add package and cmakelists

Author: aquintan4

common_interfaces_cpp/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.8)
+project(common_interfaces_cpp)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Define a list of dependencies for easy modularity and future additions
+set(ros2_dependencies
+  rclcpp
+  nav_msgs
+)
+
+# Find ament_cmake (required for the build system itself)
+find_package(ament_cmake REQUIRED)
+
+# Loop through the list to find all specified packages automatically
+foreach(dependency IN LISTS ros2_dependencies)
+  find_package(${dependency} REQUIRED)
+endforeach()
+
+# Create the shared library from the source files
+add_library(${PROJECT_NAME} SHARED
+  src/odometry.cpp
+)
+
+# Specify the include directories so the compiler finds the .hpp files
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+# Link all listed dependencies to the library
+ament_target_dependencies(${PROJECT_NAME} ${ros2_dependencies})
+
+# Install the include directory so other packages can do #include
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+# Install the library and export the target for downstream usage
+install(TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+# Export include directories, targets, and dependencies
+ament_export_include_directories(include)
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${ros2_dependencies})
+
+ament_package()

common_interfaces_cpp/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>common_interfaces_cpp</name>
+  <version>0.0.0</version>
+  <description>C++ shared library providing ROS 2 interfaces for Odometry.</description>
+  <maintainer email="dummy@dummy.com">dummy</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>nav_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>