carla/Ros2Native/CMakeLists.txt

cmake_minimum_required (VERSION 3.28.0)

project (carla-ros2-native-project)

include (ExternalProject)

set (PROJECT_INSTALL_PATH ${CMAKE_CURRENT_BINARY_DIR}/install)
set (PROJECT_CMAKE_FLAGS -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS_RELEASE=-D_GLIBCXX_USE_CXX11_ABI=0 -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH})

ExternalProject_add (
  foonathan_memory
  URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/master.zip
  CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DBUILD_SHARED_LIBS=ON -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
)

ExternalProject_add (
  fastcdr
  URL https://github.com/eProsima/Fast-CDR/archive/refs/heads/1.1.x.zip
  CMAKE_ARGS ${PROJECT_CMAKE_FLAGS}
)

# Note: We are using GIT_REPOSITORY instead URL for fastdds because fastdss contains submodules
#       and we need the .git folders to download the submodules
ExternalProject_add (
  fastdds
  GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
  GIT_TAG 2.11.2
  CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DTHIRDPARTY_Asio=FORCE -DTHIRDPARTY_TinyXML2=FORCE -DCOMPILE_TOOLS=OFF
  DEPENDS foonathan_memory fastcdr
)

ExternalProject_Add (
  carla-ros2-native-lib
  DEPENDS fastdds
  SOURCE_DIR ${PROJECT_SOURCE_DIR}/LibCarlaRos2Native
  CMAKE_ARGS ${PROJECT_CMAKE_FLAGS}
)

set (CARLA_PLUGIN_BINARY_PATH ${CMAKE_SOURCE_DIR}/Unreal/CarlaUnreal/Plugins/Carla/Binaries/Linux)

make_directory (${CARLA_PLUGIN_BINARY_PATH})

add_custom_command (
  TARGET carla-ros2-native-lib
  POST_BUILD
  COMMAND
    ${CMAKE_COMMAND} -E copy
    ${PROJECT_INSTALL_PATH}/lib/*.so*
    ${CARLA_PLUGIN_BINARY_PATH}
)

carla_add_custom_target (
  carla-ros2-native
  "Build the ROS2-Native CARLA subproject."
  DEPENDS carla-ros2-native-lib
)