Use global cmake macros

ros-controls · Feb 5, 2025 · 968d128 · 968d128
1 parent 5486fcd
commit 968d128
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Showing 23 changed files with 110 additions and 194 deletions.
diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(ackermann_steering_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(admittance_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   angles

diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(bicycle_steering_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(diff_drive_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_toolbox

diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(effort_controllers)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   forward_command_controller

diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(force_torque_sensor_broadcaster)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface

diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(forward_command_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface

diff --git a/gpio_controllers/CMakeLists.txt b/gpio_controllers/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.8)
 project(gpio_controllers)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-  -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
-  -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)

diff --git a/gripper_controllers/CMakeLists.txt b/gripper_controllers/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(gripper_controllers)
 
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_msgs

diff --git a/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(imu_sensor_broadcaster)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface

diff --git a/joint_state_broadcaster/CMakeLists.txt b/joint_state_broadcaster/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(joint_state_broadcaster)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   builtin_interfaces

diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(joint_trajectory_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   angles

diff --git a/mecanum_drive_controller/CMakeLists.txt b/mecanum_drive_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(mecanum_drive_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-  -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-  -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/parallel_gripper_controller/CMakeLists.txt b/parallel_gripper_controller/CMakeLists.txt
@@ -1,11 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(parallel_gripper_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-          -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-          -Werror=missing-braces)
-endif()
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_msgs

diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(pid_controller)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 if(WIN32)
   add_compile_definitions(

diff --git a/pose_broadcaster/CMakeLists.txt b/pose_broadcaster/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(pose_broadcaster)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface

diff --git a/position_controllers/CMakeLists.txt b/position_controllers/CMakeLists.txt
@@ -1,15 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(position_controllers)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   forward_command_controller

diff --git a/range_sensor_broadcaster/CMakeLists.txt b/range_sensor_broadcaster/CMakeLists.txt
@@ -7,15 +7,9 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
-                      -Werror=missing-braces)
-endif()
-
-# using this instead of visibility macros
-# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+include(../ros2_controllers.cmake)
+set_compiler_options()
+export_windows_symbols()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface

diff --git a/ros2_controllers.cmake b/ros2_controllers.cmake
@@ -0,0 +1,44 @@
+# Copyright 2025 AIT - Austrian Institute of Technology GmbH
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# set compiler options depending on detected compiler
+macro(set_compiler_options)
+  if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+    add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                        -Werror=return-type -Werror=shadow -Werror=format
+                        -Werror=missing-braces)
+    message(STATUS "Compiler warnings enabled for ${CMAKE_CXX_COMPILER_ID}")
+
+    # Extract major version if g++ is used
+    if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+
+      string(REPLACE "." ";" VERSION_LIST ${CMAKE_CXX_COMPILER_VERSION})
+      list(GET VERSION_LIST 0 GCC_MAJOR_VERSION)
+      list(GET VERSION_LIST 1 GCC_MINOR_VERSION)
+
+      message(STATUS "Detected GCC Version: ${CMAKE_CXX_COMPILER_VERSION} (Major: ${GCC_MAJOR_VERSION}, Minor: ${GCC_MINOR_VERSION})")
+
+      if (GCC_MAJOR_VERSION GREATER 10)
+        # GCC 11 introduced -Werror=range-loop-construct
+        add_compile_options(-Werror=range-loop-construct)
+      endif()
+    endif()
+  endif()
+endmacro()
+
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+macro(export_windows_symbols)
+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+endmacro()