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fix(cmake): Compile libpaho with the project

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This commit is contained in:
Vincent Kompjoeteraar Winter
2025-11-06 10:56:41 +01:00
committed by Vincent Winter
parent 0fd0eb693f
commit 998d471eda
2 changed files with 28 additions and 51 deletions
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41
doc/installation/installation.md
View File

@@ -42,54 +42,17 @@ ros2 launch g2_2025_imu_reader_pkg imu_reader.launch.xml
```
To change parameters when using the launch file it will need to be edited in the `src/g2_2025_imu_reader_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
### installation and setup for mqtt
## For launching lifecycle mqtt node
```bash
sudo apt install mosquitto
sudo apt-get install libpaho-mqtt-dev
git clone https://github.com/eclipse/paho.mqtt.cpp
cd paho.mqtt.cpp
git co v1.5.4
git submodule init
git submodule update
cmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_BUILD_EXAMPLES=ON
sudo cmake --build build/ --target install
```
## for launching lifecycle mqtt node
first:
First:
```bash
ros2 run g2_2025_imu_reader_pkg g2_2025_lifecycle_node --ros-args -p comm_t:='mqtt'
```
in other terminal:
```bash
mosquitto
```
and in other terminal to inialize the subscriber:
```bash
ros2 lifecycle set /lifecycle_manager configure
ros2 lifecycle set /lifecycle_manager activate
ros2 lifecycle set /lifecycle_manager deactivate
ros2 lifecycle set /lifecycle_manager shutdown
```
And finally publish a message to the sub in other terminal:
```bash
mosquitto_pub -h localhost -p 1883 -t "esp32/imu" -m "test"
```
close connection via:
```bash
ros2 lifecycle set /lifecycle_manager deactivate
```

38
src/g2_2025_imu_reader_pkg/CMakeLists.txt
View File

@@ -8,13 +8,35 @@ endif()
# external packages
include(FetchContent)
fetchcontent_declare(
FetchContent_Declare(
tomlplusplus
GIT_REPOSITORY https://github.com/marzer/tomlplusplus.git
GIT_TAG v3.4.0
)
fetchcontent_makeavailable(tomlplusplus)
FetchContent_MakeAvailable(tomlplusplus)
FetchContent_Declare(
paho_mqtt_cpp
GIT_REPOSITORY https://github.com/eclipse/paho.mqtt.cpp.git
GIT_TAG v1.5.2
)
set(PAHO_WITH_MQTT_C ON CACHE BOOL "Build with Paho MQTT C library" FORCE)
set(PAHO_MQTT_CPP_BUILD_STATIC ON CACHE BOOL "Build static library" FORCE)
set(PAHO_MQTT_CPP_BUILD_SHARED OFF CACHE BOOL "Build shared library" FORCE)
set(PAHO_WITH_SSL OFF CACHE BOOL "Build with SSL support" FORCE)
set(PAHO_BUILD_EXAMPLES OFF CACHE BOOL "Build example programs" FORCE)
FetchContent_MakeAvailable(paho_mqtt_cpp)
FetchContent_Declare(
nlohmann_json
GIT_REPOSITORY https://github.com/nlohmann/json.git
GIT_TAG v3.12.0
)
FetchContent_MakeAvailable(nlohmann_json)
# find dependencies
find_package(ament_cmake REQUIRED)
@@ -23,7 +45,6 @@ find_package(rclcpp_action REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(nlohmann_json REQUIRED)
add_executable(g2_2025_imu_database_writer_node
src/g2_2025_imu_database_writer_node/Main.cpp
@@ -38,9 +59,6 @@ target_include_directories(g2_2025_imu_database_writer_node PRIVATE
)
ament_target_dependencies(g2_2025_imu_database_writer_node rclcpp sensor_msgs)
target_link_libraries(g2_2025_imu_database_writer_node pqxx pq tomlplusplus::tomlplusplus)
ament_target_dependencies(g2_2025_imu_database_writer_node rclcpp sensor_msgs)
target_link_libraries(g2_2025_imu_database_writer_node pqxx pq tomlplusplus::tomlplusplus)
add_executable(g2_2025_lifecycle_node
src/g2_2025_lifecycle_node/main.cpp
@@ -56,13 +74,10 @@ target_include_directories(g2_2025_lifecycle_node PRIVATE
ament_target_dependencies(g2_2025_lifecycle_node rclcpp rclcpp_lifecycle std_msgs sensor_msgs)
target_link_libraries(g2_2025_lifecycle_node
paho-mqttpp3
paho-mqtt3a
paho-mqttpp3-static
nlohmann_json::nlohmann_json
)
install(
TARGETS
g2_2025_imu_database_writer_node
@@ -142,8 +157,7 @@ if(BUILD_TESTING)
sensor_msgs
)
target_link_libraries(${PROJECT_NAME}_test_lifecycle_manager
paho-mqttpp3
paho-mqtt3a
paho-mqttpp3-static
nlohmann_json::nlohmann_json
)
set_target_properties(${PROJECT_NAME}_test_lifecycle_manager PROPERTIES INSTALL_RPATH "/usr/local/lib")