CMakeLists.txt example with ament

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)

project(foo)

if(NOT WIN32)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall")
endif()


# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rmw_connext_cpp REQUIRED)
find_package(std_interfaces REQUIRED)


# message generation
rosidl_generate_interfaces(
  ${PROJECT_NAME}_msg-gen
  msg/MyMessage.msg
)


# setup targets
include_directories(
  include
  ${rclcpp_INCLUDE_DIRS}
  ${rmw_connext_cpp_INCLUDE_DIRS}
  ${std_interfaces_INCLUDE_DIRS}
)

add_library(foo_lib src/lib.cpp)
target_link_libraries(foo_lib ${rclcpp_LIBRARIES} ${rmw_connext_cpp_LIBRARIES} ${std_interfaces})

add_executable(foo_bin src/bin.cpp)
add_dependencies(foo_bin foo_lib)



# export information to downstream packages
ament_export_dependencies(
  rclcpp
  std_interfaces
)
ament_export_include_directories(include)
ament_export_libraries(foo_lib)

# must be called *after* the targets to check exported libraries etc.
ament_package(
  CONFIG_EXTRAS "foo-extras.cmake"
)


# install artifacts
install(
  DIRECTORY cmake
  DESTINATION share/${PROJECT_NAME}
)
install(
  DIRECTORY include/
  DESTINATION include
)
install(
  TARGETS foo_lib foo_bin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)


# tests
if(AMENT_ENABLE_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(foo_gtest test/my_test.cpp)
  target_link_libraries(foo_gtest ${rclcpp_LIBRARIES} ${rmw_connext_cpp_LIBRARIES} ${std_interfaces})
endif()

Good reference!!