### Install SDK Files

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk/CMakeLists.txt

Installs the SDK's header files from the 'include/' directory to the system's include path. It also installs the built library targets (archive, library, runtime) and includes to their respective destinations (lib/, bin/).

```cmake
install(
  DIRECTORY include/
  DESTINATION include/
)

install(
  TARGETS ${PROJECT_NAME}
  EXPORT ${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)
```

--------------------------------

### Install Executable and Program with CMake

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk_examples/CMakeLists.txt

This CMake snippet handles the installation of build artifacts. It installs the 'read_write_node' executable to a specific library path and also installs the 'src/read_write_node.py' Python script to the same destination directory.

```cmake
# Install
install(TARGETS
  read_write_node
  DESTINATION lib/${PROJECT_NAME}
)

install(PROGRAMS
  src/read_write_node.py
  DESTINATION lib/${PROJECT_NAME}
)
```

--------------------------------

### Install Python Package

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk/CMakeLists.txt

Uses the ament_python_install_package macro to install the Python package for the Dynamixel SDK. It specifies the package name and the directory containing the Python package sources.

```cmake
ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR "src/dynamixel_sdk")
```

--------------------------------

### Configure Testing and Packaging with CMake

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk_examples/CMakeLists.txt

This CMake snippet configures the build for testing if 'BUILD_TESTING' is enabled. It finds linting dependencies and includes commented-out options to skip copyright and cpplint checks. Finally, it defines the package metadata using 'ament_package()'.

```cmake
# Test
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()
```

--------------------------------

### Configure C++ Build with CMake

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk_examples/CMakeLists.txt

This snippet demonstrates basic CMake configuration for a C++ project. It sets the minimum required version, project name, C++ standard to C++17, and adds compiler warnings for GCC and Clang. It then finds essential dependencies like ament_cmake, dynamixel_sdk, and ROS 2 libraries.

```cmake
cmake_minimum_required(VERSION 3.5)
project(dynamixel_sdk_examples)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
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(ament_cmake_python REQUIRED)
find_package(dynamixel_sdk REQUIRED)
find_package(dynamixel_sdk_custom_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)

include_directories(include)
```

--------------------------------

### Build and Link C++ Executable with CMake

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk_examples/CMakeLists.txt

This CMake snippet defines a C++ executable target named 'read_write_node' from 'src/read_write_node.cpp'. It then links this executable against the 'dynamixel_sdk', custom interfaces, and the 'rclcpp' library, making them available for use.

```cmake
# Build
add_executable(read_write_node src/read_write_node.cpp)
target_link_libraries(read_write_node PUBLIC
  dynamixel_sdk::dynamixel_dynamixel_sdk
  ${dynamixel_sdk_custom_interfaces_TARGETS}
  rclcpp::rclcpp
)
```

--------------------------------

### Export Ament Package Targets and Information

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk/CMakeLists.txt

Exports the targets and include directories of the Dynamixel SDK for use by other ament packages. This includes exporting the library target, include directories, and library paths, making the SDK usable in a ROS 2 environment.

```cmake
ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_package()
```

--------------------------------

### Build Dynamixel SDK Shared Library (Platform Specific)

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk/CMakeLists.txt

Builds the Dynamixel SDK as a shared library named 'dynamixel_sdk'. It conditionally includes platform-specific port handler source files (macOS, Windows, or Linux) based on the operating system detected by CMake.

```cmake
if(APPLE)
  add_library(dynamixel_sdk SHARED
    ${DYNAMIXEL_SDK_SOURCES}
    src/dynamixel_sdk/port_handler_mac.cpp
  )
elseif(WIN32)
  add_library(dynamixel_sdk SHARED
    ${DYNAMIXEL_SDK_SOURCES}
    src/dynamixel_sdk/port_handler_windows.cpp
  )
else()
  add_library(dynamixel_sdk SHARED
    ${DYNAMIXEL_SDK_SOURCES}
    src/dynamixel_sdk/port_handler_linux.cpp
  )
endif()
```

--------------------------------

### CMake Build Configuration for Dynamixel SDK Custom Interfaces (CMake)

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk_custom_interfaces/CMakeLists.txt

Configures the build system for the Dynamixel SDK custom interfaces package. It sets the minimum CMake version, project name, C++ standard to C++17, enables compiler warnings for GCC and Clang, finds required ROS 2 packages, defines message and service files, generates interface code, and exports package dependencies.

```cmake
cmake_minimum_required(VERSION 3.5)
project(dynamixel_sdk_custom_interfaces)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
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(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)

set(msg_files
  "msg/SetPosition.msg"
)

set(srv_files
  "srv/GetPosition.srv"
)

rosidl_generate_interfaces(${PROJECT_NAME}
  ${msg_files}
  ${srv_files}
  DEPENDENCIES builtin_interfaces
)

ament_export_dependencies(rosidl_default_runtime)
ament_package()
```

--------------------------------

### Find Ament Dependencies

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk/CMakeLists.txt

Finds necessary ament packages and libraries required for the project, including ament itself and ament_cmake_python for Python package support. The REQUIRED keyword ensures the build fails if these packages are not found.

```cmake
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
```

--------------------------------

### Configure C++ Standard and Compiler Options

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk/CMakeLists.txt

Sets the C++ standard to C++17 if not already defined. It also adds standard compiler warnings (Wall, Wextra, Wpedantic) and specific flags to suppress unused variable and parameter warnings for GCC and Clang compilers.

```cmake
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-but-set-variable -Wno-unused-parameter -Wno-unused-variable)
endif()
```

--------------------------------

### Set CMake Minimum Version and Project Name

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk/CMakeLists.txt

Sets the minimum required CMake version for the project and defines the project name. This ensures compatibility with the specified CMake version and identifies the project during the build process.

```cmake
cmake_minimum_required(VERSION 3.5)
project(dynamixel_sdk)
```

--------------------------------

### Define Dynamixel SDK Source Files

Source: https://github.com/robotis-git/dynamixelsdk/blob/main/ros/dynamixel_sdk/CMakeLists.txt

Defines a CMake variable `DYNAMIXEL_SDK_SOURCES` containing a list of all C++ source files for the Dynamixel SDK. This variable is used later when creating the library target.

```cmake
set(DYNAMIXEL_SDK_SOURCES
  src/dynamixel_sdk/packet_handler.cpp
  src/dynamixel_sdk/protocol1_packet_handler.cpp
  src/dynamixel_sdk/protocol2_packet_handler.cpp
  src/dynamixel_sdk/group_sync_read.cpp
  src/dynamixel_sdk/group_sync_write.cpp
  src/dynamixel_sdk/group_bulk_read.cpp
  src/dynamixel_sdk/group_bulk_write.cpp
  src/dynamixel_sdk/group_fast_bulk_read.cpp
  src/dynamixel_sdk/group_fast_sync_read.cpp
  src/dynamixel_sdk/group_handler.cpp
  src/dynamixel_sdk/port_handler.cpp
)
```

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