[PI Sprint 24/25 / PD-462] - [Feature] Migrate to RoslibJS

CMakeLists.txt

@@ -21,45 +21,19 @@ find_package(kansei REQUIRED)
 find_package(kansei_interfaces REQUIRED)
 find_package(keisan REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(soccer_interfaces REQUIRED)
 find_package(tachimawari REQUIRED)
 find_package(tachimawari_interfaces REQUIRED)
-find_package(Protobuf CONFIG REQUIRED)
-message(STATUS "Using protobuf ${Protobuf_VERSION}")
-
-# Find gRPC installation
-# Looks for gRPCConfig.cmake file installed by gRPC's cmake installation.
-find_package(gRPC CONFIG REQUIRED)
-message(STATUS "Using gRPC ${gRPC_VERSION}")
 
 add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/config/node/config_node.cpp"
   "src/${PROJECT_NAME}/node/aruku_node.cpp"
   "src/${PROJECT_NAME}/walking/node/walking_manager.cpp"
   "src/${PROJECT_NAME}/walking/node/walking_node.cpp"
   "src/${PROJECT_NAME}/walking/process/kinematic.cpp"
-  "src/${PROJECT_NAME}/config/grpc/config.cpp"
-  "src/${PROJECT_NAME}/config/grpc/call_data_base.cpp"
-  "src/${PROJECT_NAME}/config/grpc/call_data_get_config.cpp"
-  "src/${PROJECT_NAME}/config/grpc/call_data_load_config.cpp"
-  "src/${PROJECT_NAME}/config/grpc/call_data_set_config.cpp"
-  "src/${PROJECT_NAME}/config/grpc/call_data_save_config.cpp"
-  "src/${PROJECT_NAME}/config/grpc/call_data_publish_config.cpp"
-  "src/${PROJECT_NAME}/config/grpc/call_data_set_app_status.cpp"
 )
 
-add_library(${PROJECT_NAME}_exported SHARED
-  "src/${PROJECT_NAME}/walking/node/walking_manager.cpp"
-  "src/${PROJECT_NAME}/walking/node/walking_node.cpp"
-  "src/${PROJECT_NAME}/walking/process/kinematic.cpp"
-)
-
-target_include_directories(${PROJECT_NAME}_exported PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-
 target_include_directories(${PROJECT_NAME} PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
@@ -71,28 +45,11 @@ ament_target_dependencies(${PROJECT_NAME}
   kansei_interfaces
   keisan
   rclcpp
+  soccer_interfaces
   tachimawari
   tachimawari_interfaces
-  gRPC
   )
 
-ament_target_dependencies(${PROJECT_NAME}_exported
-  ament_index_cpp
-  aruku_interfaces
-  jitsuyo
-  kansei
-  kansei_interfaces
-  keisan
-  rclcpp
-  tachimawari
-  tachimawari_interfaces
-  )
-
-target_link_libraries(${PROJECT_NAME}
-  gRPC::grpc++_reflection
-  gRPC::grpc++
-)
-
 install(DIRECTORY "include" DESTINATION ".")
 
 install(TARGETS ${PROJECT_NAME}
@@ -102,13 +59,6 @@ install(TARGETS ${PROJECT_NAME}
   RUNTIME DESTINATION "bin"
   )
 
-install(TARGETS ${PROJECT_NAME}_exported
-  EXPORT export_${PROJECT_NAME}_exported
-  ARCHIVE DESTINATION "lib"
-  LIBRARY DESTINATION "lib"
-  RUNTIME DESTINATION "bin"
-  )
-
 target_compile_options(${PROJECT_NAME} PRIVATE -fPIC)
 
 add_executable(control "src/control_main.cpp")
@@ -149,9 +99,10 @@ ament_export_dependencies(
   kansei_interfaces
   keisan
   rclcpp
+  soccer_interfaces
   tachimawari
   tachimawari_interfaces
   )
 ament_export_include_directories("include")
-ament_export_libraries(${PROJECT_NAME}_exported)
+ament_export_libraries(${PROJECT_NAME})
 ament_package()