add ascent

README.md

@@ -45,13 +45,15 @@ git checkout -b v2.x origin/v2.x
 cd ../
 catkin_make install --pkg ugv_sdk
 
+# source the packages
 source devel/setup.bash
 
 # install ranger_ros
+cd ~/agilex_ws/src/
 git clone https://github.com/westonrobot/ranger_ros.git
 
-#cd ranger_ros/ranger_base/ascent
-#mkdir -p build && cd build && cmake .. && sudo make install
+cd ranger_ros/ranger_base/ascent
+mkdir -p build && cd build && cmake -DBUILD_TESTING=OFF .. && sudo make install
 
 cd ~/agilex_ws/
 catkin_make install

ranger_base/ascent/CMakeLists.txt

@@ -0,0 +1,65 @@
+cmake_minimum_required(VERSION 3.10.2)
+project("ascent"
+		VERSION 0.5.0
+		DESCRIPTION "An extremely fast and flexible C++ simulation engine and differential equation solver."
+		# HOMEPAGE_URL "https://github.com/AnyarInc/Ascent"
+		LANGUAGES CXX)
+
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
+include(CPack)
+if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
+	include(CTest)
+endif()
+
+add_library(${PROJECT_NAME} INTERFACE)
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+
+target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
+if (MSVC)
+	target_compile_options(${PROJECT_NAME} INTERFACE "/bigobj") # for ChaiScript
+endif()
+
+target_include_directories(
+  ${PROJECT_NAME}
+  INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+			$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/catch2>
+            $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+install(TARGETS ${PROJECT_NAME}
+        EXPORT ${PROJECT_NAME}_Targets
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+write_basic_package_version_file("${PROJECT_NAME}ConfigVersion.cmake"
+                                 VERSION ${PROJECT_VERSION}
+                                 COMPATIBILITY SameMajorVersion)
+configure_package_config_file(
+  "${PROJECT_SOURCE_DIR}/cmake/${PROJECT_NAME}Config.cmake.in"
+  "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  INSTALL_DESTINATION
+  ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake)
+
+install(EXPORT ${PROJECT_NAME}_Targets
+        FILE ${PROJECT_NAME}Targets.cmake
+        NAMESPACE ${PROJECT_NAME}::
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake)
+
+install(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+              "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake)
+
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+set(CPACK_RESOURCE_FILE_LICENSE "${PROJECT_SOURCE_DIR}/LICENSE")
+
+if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME OR MODERN_CMAKE_BUILD_TESTING) AND BUILD_TESTING)
+	add_subdirectory(unit_tests)
+endif()
+
+option(BUILD_EXAMPLES "Build example projects" TRUE)
+if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME) AND BUILD_EXAMPLES)
+   add_subdirectory(examples)
+endif()