ROS_Tutorial

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(ros2_cpp_pkg)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

add_executable(cpp_code src/ros2_cpp_code.cpp)
ament_target_dependencies(cpp_code rclcpp)

install(TARGETS
	cpp_code 
	DESTINATION lib/${PROJECT_NAME}
)

ros2_cpp_code.cpp

#include "rclcpp/rclcpp.hpp"                                                                         
                                                                                                     
int main(int argc, char *argv[]) {                                                                   
        rclcpp::init(argc, argv);                                                                    
        auto node = rclcpp::Node::make_shared("ObiWan");                                             
                                                                                                     
        RCLCPP_INFO(node->get_logger(),                                                              
                        "Help me Obi-Wan Kenobi, you're my only hope");                              
                                                                                                     
        rclcpp::shutdown();                                                                          
        return 0;                                                                                    
}                                                                                                    
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