### ROSIDL Runtime C++ Installation Rules

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_runtime_cpp/CMakeLists.txt

This snippet defines the installation rules for the rosidl_runtime_cpp package. It specifies which directories and targets should be installed.

```cmake
install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)
install(
  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
)

ament_package()
```

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

### Install package files

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_runtime_c/CMakeLists.txt

Installs include directories and target binaries, and finalizes the ament package.

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

ament_package()
```

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

### ROS 2 rosidl CMakeLists.txt Configuration

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_cmake/CMakeLists.txt

This snippet shows the basic CMake configuration for the rosidl package. It finds required packages like ament_cmake and ament_cmake_python, installs the Python package, and sets up testing dependencies if BUILD_TESTING is enabled. It also configures package extras and installs the cmake directory.

```cmake
cmake_minimum_required(VERSION 3.20)

project(rosidl_cmake NONE)

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)

ament_python_install_package(${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package(
  CONFIG_EXTRAS "rosidl_cmake-extras.cmake"
)

install(
  DIRECTORY cmake
  DESTINATION share/${PROJECT_NAME}
)
```

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

### Configure rosidl_typesupport_interface CMake

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_typesupport_interface/CMakeLists.txt

Defines the interface library, sets up include directories for build and install interfaces, and exports the package targets.

```cmake
cmake_minimum_required(VERSION 3.20)

project(rosidl_typesupport_interface NONE)

find_package(ament_cmake REQUIRED)

add_library(${PROJECT_NAME} INTERFACE)
target_include_directories(${PROJECT_NAME} INTERFACE
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")

# Export old-style CMake variables
ament_export_include_directories("include/${PROJECT_NAME}")

# Export modern CMake targets
ament_export_targets(${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  # For gtest
  enable_language(C CXX)
  # Default to C11
  if(NOT CMAKE_C_STANDARD)
    set(CMAKE_C_STANDARD 11)
  endif()
  # Default to C++17
  if(NOT CMAKE_CXX_STANDARD)
    set(CMAKE_CXX_STANDARD 17)
  endif()

  find_package(ament_cmake_gtest REQUIRED)

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

  ament_add_gtest(test_macros test/test_macros.cpp)
  if(TARGET test_macros)
    target_link_libraries(test_macros ${PROJECT_NAME})
  endif()

endif()

ament_package()

install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)
install(
  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
)
```

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

### ROS 2 rosidl Package CMake Configuration

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_buffer_backend/CMakeLists.txt

This CMakeLists.txt file sets up a ROS 2 rosidl package. It configures C++ standards, finds necessary dependencies like ament_cmake and rmw, defines an INTERFACE library, and manages installation rules for headers and the library target. It also includes optional testing configurations.

```cmake
cmake_minimum_required(VERSION 3.20)
project(rosidl_buffer_backend)

# 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(rmw REQUIRED)

# This is a header-only library
add_library(${PROJECT_NAME} INTERFACE)

target_include_directories(${PROJECT_NAME} INTERFACE
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

target_link_libraries(${PROJECT_NAME} INTERFACE
  rmw::rmw
)

# Install headers
install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)

# Install library target
install(
  TARGETS ${PROJECT_NAME}
  EXPORT ${PROJECT_NAME}
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include/${PROJECT_NAME}
)

# Export dependencies
ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(rmw)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
```

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

### CMake configuration for rosidl_parser

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_parser/CMakeLists.txt

Defines the project requirements, Python package installation, and testing configuration for the rosidl_parser package.

```cmake
cmake_minimum_required(VERSION 3.20)

project(rosidl_parser NONE)

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)

ament_python_install_package(${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  find_package(ament_cmake_mypy REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

if(BUILD_TESTING)
  find_package(ament_cmake_pytest REQUIRED)
  ament_add_pytest_test(pytest test)
endif()

install(
  PROGRAMS bin/idl2png
  DESTINATION lib/${PROJECT_NAME})
```

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

### CMake configuration for rosidl_buffer

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_buffer/CMakeLists.txt

Defines the project, sets C++17 standards, configures compiler warnings, and manages library installation and testing.

```cmake
cmake_minimum_required(VERSION 3.20)
project(rosidl_buffer)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  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)
endif()

# Find dependencies
find_package(ament_cmake REQUIRED)

add_library(${PROJECT_NAME} SHARED
  src/c_helpers.cpp
)

target_include_directories(${PROJECT_NAME} PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

target_compile_definitions(${PROJECT_NAME} PRIVATE "ROSIDL_BUFFER_BUILDING_DLL")

# Install headers
install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)

# Install library target
install(
  TARGETS ${PROJECT_NAME}
  EXPORT ${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include/${PROJECT_NAME}
)

# Export modern CMake targets
ament_export_targets(${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  find_package(ament_cmake_gtest REQUIRED)

  ament_add_gtest(test_buffer test/test_buffer.cpp)
  if(TARGET test_buffer)
    target_link_libraries(test_buffer ${PROJECT_NAME})
  endif()

  ament_add_gtest(test_c_helpers test/test_c_helpers.cpp)
  if(TARGET test_c_helpers)
    target_link_libraries(test_c_helpers ${PROJECT_NAME})
  endif()
endif()

ament_package()
```

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

### Configure rosidl_runtime_c CMake build

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_runtime_c/CMakeLists.txt

Sets up the C and C++ standards, finds required dependencies, and defines the library target for rosidl_runtime_c.

```cmake
cmake_minimum_required(VERSION 3.20)

project(rosidl_runtime_c C)

# Default to C11
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 11)
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()

if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros_core REQUIRED)
find_package(rcutils REQUIRED)
find_package(rosidl_buffer REQUIRED)
find_package(rosidl_typesupport_interface REQUIRED)

file(GLOB type_description_sources "src/type_description/*.c")
file(GLOB type_description_includes "include/rosidl_runtime_c/type_description/*.h")
add_library(${PROJECT_NAME}
  "src/message_type_support.c"
  "src/primitives_sequence_functions.c"
  "src/sequence_bound.c"
  "src/service_type_support.c"
  "src/string_functions.c"
  "src/type_hash.c"
  "src/u16string_functions.c"
  "src/type_description_utils.c"
  ${type_description_sources}
)
target_include_directories(${PROJECT_NAME} PUBLIC
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${PROJECT_NAME} PUBLIC
  rcutils::rcutils
  rosidl_buffer::rosidl_buffer
  rosidl_typesupport_interface::rosidl_typesupport_interface
)
if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
  set_target_properties(${PROJECT_NAME} PROPERTIES
    COMPILE_OPTIONS -Wall -Wextra -Wpedantic)
endif()
if(WIN32)
  target_compile_definitions(${PROJECT_NAME}
    PRIVATE "ROSIDL_GENERATOR_C_BUILDING_DLL")
endif()

if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
  target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
endif()

ament_export_dependencies(rcutils rosidl_buffer rosidl_typesupport_interface)

# Export old-style CMake variables
ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_libraries(${PROJECT_NAME})
```

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

### ROSIDL Runtime C++ CMakeLists.txt Configuration

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_runtime_cpp/CMakeLists.txt

This snippet defines the CMake build configuration for the rosidl_runtime_cpp package. It sets up the project, finds necessary packages, defines an interface library, configures include directories and link libraries, and handles platform-specific definitions.

```cmake
cmake_minimum_required(VERSION 3.20)

project(rosidl_runtime_cpp)

find_package(ament_cmake REQUIRED)
find_package(rosidl_runtime_c REQUIRED)
find_package(rosidl_buffer REQUIRED)

add_library(${PROJECT_NAME} INTERFACE)
target_include_directories(${PROJECT_NAME} INTERFACE
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${PROJECT_NAME} INTERFACE
  rosidl_runtime_c::rosidl_runtime_c
  rosidl_buffer::rosidl_buffer)

if(MSVC)
  target_compile_definitions(${PROJECT_NAME} INTERFACE
  _SILENCE_CXX17_CODECVT_HEADER_DEPRECATION_WARNING)
endif()

# Export old-style CMake variables
ament_export_include_directories("include/${PROJECT_NAME}")

# Export modern CMake targets
ament_export_targets(${PROJECT_NAME})

ament_index_register_resource("rosidl_runtime_packages")

ament_export_dependencies(rosidl_runtime_c rosidl_buffer)
```

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

### Configure linters for generated code

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_runtime_c/CMakeLists.txt

Configures cppcheck, cpplint, and uncrustify for testing generated source code.

```cmake
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  find_package(performance_test_fixture REQUIRED)
  # Give cppcheck hints about macro definitions coming from outside this package
  get_target_property(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS performance_test_fixture::performance_test_fixture
    INTERFACE_INCLUDE_DIRECTORIES)

  set(AMENT_LINT_AUTO_FILE_EXCLUDE ${type_description_includes} ${type_description_sources})
  ament_lint_auto_find_test_dependencies()

  # Run specific linters on copied generated code
  if(ament_cmake_cppcheck_FOUND)
    ament_cppcheck(
      TESTNAME "cppcheck_copied_type_description_interfaces"
      ${type_description_includes} ${type_description_sources})
  endif()
  if(ament_cmake_cpplint_FOUND)
    ament_cpplint(
      TESTNAME "cpplint_copied_type_description_interfaces"
      # the generated code might contain longer lines for templated types
      MAX_LINE_LENGTH 999
      ${type_description_includes} ${type_description_sources})
  endif()
  if(ament_cmake_uncrustify_FOUND)
    ament_uncrustify(
      TESTNAME "uncrustify_copied_type_description_interfaces"
      # the generated code might contain longer lines for templated types
      MAX_LINE_LENGTH 0
      ${type_description_includes} ${type_description_sources})
  endif()
```

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

### Configure CMake for ROS 2 Interface Generation

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_generator_tests/CMakeLists.txt

Sets up the project, compiler standards, and finds necessary ROS 2 dependencies for interface generation and testing.

```cmake
cmake_minimum_required(VERSION 3.20)
project(rosidl_generator_tests)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

# Default to C11
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 11)
endif()

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

find_package(ament_cmake REQUIRED)

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  find_package(ament_cmake_pytest REQUIRED)
  find_package(ament_lint_auto REQUIRED)
  find_package(rosidl_cmake REQUIRED)
  find_package(rosidl_generator_cpp REQUIRED)
  find_package(rosidl_generator_type_description REQUIRED)
  find_package(rosidl_runtime_c REQUIRED)
  find_package(rosidl_runtime_cpp REQUIRED)
  find_package(test_interface_files REQUIRED)
  find_package(type_description_interfaces REQUIRED)
  ament_lint_auto_find_test_dependencies()

  rosidl_generate_interfaces(${PROJECT_NAME}
    ${test_interface_files_ACTION_FILES}
    ${test_interface_files_MSG_FILES}
    ${test_interface_files_SRV_FILES}
    msg/BasicIdl.idl
    msg/SmallConstant.msg
    ADD_LINTER_TESTS
    SKIP_INSTALL
  )

  rosidl_get_typesupport_target(cpp_generator_target "${PROJECT_NAME}" "rosidl_generator_cpp")

  macro(add_generator_cpp_test)
    ament_add_gtest(${test_name} test/rosidl_generator_cpp/${test_name}.cpp)
    if(TARGET ${test_name})
      add_dependencies(${test_name} ${PROJECT_NAME})
      target_link_libraries(${test_name}
        ${cpp_generator_target}
        rosidl_runtime_cpp::rosidl_runtime_cpp
      )
    endif()
  endmacro()

  if(MSVC)
    # https://developercommunity.visualstudio.com/content/problem/919371/c2017-illegal-escape-sequence-when-using-in-a-raw.html
    set_source_files_properties(
      test/rosidl_generator_cpp/test_traits.cpp PROPERTIES COMPILE_FLAGS "/Zc:preprocessor")
  endif()

  set(generator_cpp_test_names
    test_msg_builder
    test_msg_initialization
    test_srv_initialization
    test_interfaces
    test_msg_datatype
    test_name
    test_traits
  )

  foreach(test_name ${generator_cpp_test_names})
    add_generator_cpp_test()
  endforeach()

  rosidl_get_typesupport_target(c_generator_target "${PROJECT_NAME}" "rosidl_generator_c")

  add_executable(
    test_compilation_c
    test/rosidl_generator_c/test_compilation.c
    test/rosidl_generator_c/separate_compilation.c
  )
  ament_add_test(
    test_compilation_c
    COMMAND "$<TARGET_FILE:test_compilation_c>"
    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
  )
  target_link_libraries(test_compilation_c
    ${c_generator_target}
    rosidl_runtime_c::rosidl_runtime_c
  )

  add_executable(test_interfaces_c test/rosidl_generator_c/test_interfaces.c)
  ament_add_test(
    test_interfaces_c
    COMMAND "$<TARGET_FILE:test_interfaces_c>"
    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
  )
  target_link_libraries(test_interfaces_c
    ${c_generator_target}
    rosidl_runtime_c::rosidl_runtime_c
  )

  add_executable(
    test_invalid_initialization_c
    test/rosidl_generator_c/test_invalid_initialization.c
  )
  ament_add_test(
    test_invalid_initialization_c
    COMMAND "$<TARGET_FILE:test_invalid_initialization_c>"
    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
  )
  target_link_libraries(test_invalid_initialization_c
    ${c_generator_target}
    rosidl_runtime_c::rosidl_runtime_c
  )

  add_executable(
    test_descriptions_c
    test/rosidl_generator_c/test_descriptions.c
  )
  ament_add_test(
    test_descriptions_c
    COMMAND "$<TARGET_FILE:test_descriptions_c>"
    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
  )
  target_link_libraries(test_descriptions_c
    ${c_generator_target}
    rosidl_runtime_c::rosidl_runtime_c
    type_description_interfaces::type_description_interfaces
  )

  ament_add_pytest_test(test_hash_generator test/rosidl_generator_type_description
    ENV GENERATED_TEST_FILE_DIR=${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_type_description/${PROJECT_NAME}
  )
endif()

ament_package()

if(TEST cpplint)
  # must set the property after ament_package()
  set_tests_properties(cpplint PROPERTIES TIMEOUT 300)
endif()
```

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

### ROSIDL Runtime C++ Testing Configuration

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_runtime_cpp/CMakeLists.txt

This snippet configures testing for the rosidl_runtime_cpp package, including finding linting and testing packages, setting up C++ standards and compiler flags, and adding Google Test and performance tests.

```cmake
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  find_package(performance_test_fixture REQUIRED)
  # Give cppcheck hints about macro definitions coming from outside this package
  get_target_property(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS
    performance_test_fixture::performance_test_fixture INTERFACE_INCLUDE_DIRECTORIES)

  file(GLOB type_description_includes "include/rosidl_runtime_cpp/type_description/*.hpp")

  set(AMENT_LINT_AUTO_FILE_EXCLUDE ${type_description_includes})
  ament_lint_auto_find_test_dependencies()

  # Run specific linters on copied generated code
  if(ament_cmake_cppcheck_FOUND)
    ament_cppcheck(
      TESTNAME "cppcheck_copied_type_description_interfaces"
      ${type_description_includes})
  endif()
  if(ament_cmake_cpplint_FOUND)
    ament_cpplint(
      TESTNAME "cpplint_copied_type_description_interfaces"
      # the generated code might contain longer lines for templated types
      MAX_LINE_LENGTH 999
      ${type_description_includes})
  endif()
  if(ament_cmake_uncrustify_FOUND)
    ament_uncrustify(
      TESTNAME "uncrustify_copied_type_description_interfaces"
      # the generated code might contain longer lines for templated types
      MAX_LINE_LENGTH 0
      ${type_description_includes})
  endif()

  find_package(ament_cmake_gtest REQUIRED)

  # Default to C++17
  if(NOT CMAKE_CXX_STANDARD)
    set(CMAKE_CXX_STANDARD 17)
    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)
  endif()

  ament_add_gtest(test_bounded_vector test/test_bounded_vector.cpp)
  if(TARGET test_bounded_vector)
    target_link_libraries(test_bounded_vector ${PROJECT_NAME})
  endif()

  add_performance_test(benchmark_bounded_vector test/benchmark/benchmark_bounded_vector.cpp)
  if(TARGET benchmark_bounded_vector)
    target_link_libraries(benchmark_bounded_vector ${PROJECT_NAME})
  endif()
endif()
```

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

### Configure CMake for ROS 2 Interface Introspection Tests

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_typesupport_introspection_tests/CMakeLists.txt

Sets up the project, finds necessary ROS 2 packages, configures compiler standards, generates interfaces, and registers GTest targets.

```cmake
cmake_minimum_required(VERSION 3.20)
project(rosidl_typesupport_introspection_tests)

find_package(ament_cmake REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  # Default to C++17
  if(NOT CMAKE_CXX_STANDARD)
    set(CMAKE_CXX_STANDARD 17)
    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)
  endif()
  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    # When building under Clang, the "TYPED_TEST_SUITE" macros in the tests print the following
    # warning: "must specify at least one argument for '...' parameter of variadic macro".
    # Since this isn't really a problem, and will be allowed under C++20, just disable the warning.
    add_compile_options(-Wno-gnu-zero-variadic-macro-arguments)
  endif()

  find_package(rosidl_cmake REQUIRED)
  find_package(rosidl_generator_c REQUIRED)
  find_package(rosidl_generator_cpp REQUIRED)
  find_package(rosidl_typesupport_introspection_c REQUIRED)
  find_package(rosidl_typesupport_introspection_cpp REQUIRED)
  find_package(test_interface_files REQUIRED)

  # Drop BoundedPlainSequences as BoundedSequences
  # already encompasses all the same member types
  list(
    FILTER test_interface_files_MSG_FILES
    EXCLUDE REGEX ".*BoundedPlainSequences.*")
  rosidl_generate_interfaces(${PROJECT_NAME}
    ${test_interface_files_MSG_FILES}
    ${test_interface_files_SRV_FILES}
    # ${test_interface_files_ACTION_FILES}
    SKIP_INSTALL
  )

  find_package(rosidl_buffer REQUIRED)
  find_package(rcutils REQUIRED)
  find_package(rcpputils REQUIRED)
  find_package(rosidl_typesupport_interface REQUIRED)

  add_library(${PROJECT_NAME}_library INTERFACE)
  target_include_directories(${PROJECT_NAME}_library INTERFACE include/)
  target_link_libraries(${PROJECT_NAME}_library INTERFACE
    rosidl_buffer::rosidl_buffer
    rcutils::rcutils
    rcpputils::rcpputils
    rosidl_typesupport_interface::rosidl_typesupport_interface
    rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
    rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp)
  target_compile_features(${PROJECT_NAME}_library INTERFACE cxx_std_17)

  find_package(ament_cmake_gtest REQUIRED)
  file(GLOB test_files test/test_*.cpp)
  foreach(test_file ${test_files})
    get_filename_component(target ${test_file} NAME_WE)

    ament_add_gtest(${target} ${test_file}
      # Ensure typesupport introspection libraries can be found
      APPEND_LIBRARY_DIRS "${CMAKE_CURRENT_BINARY_DIR}"
    )

    if(TARGET ${target})
      target_include_directories(${target} PRIVATE test)
      target_link_libraries(${target}
        ${PROJECT_NAME}_library
        ${PROJECT_NAME}__rosidl_generator_c
        ${PROJECT_NAME}__rosidl_generator_cpp
        ${PROJECT_NAME}__rosidl_typesupport_introspection_c
        ${PROJECT_NAME}__rosidl_typesupport_introspection_cpp)
    endif()
  endforeach()
endif()

ament_package()
```

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

### ROS 2 rosidl_typesupport_introspection_cpp CMakeLists.txt Configuration

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_typesupport_introspection_cpp/CMakeLists.txt

This CMakeLists.txt file sets up the build for the rosidl_typesupport_introspection_cpp package. It includes C++17 as the default standard, enables compiler warnings for GCC and Clang, and finds required ament packages. It also defines library targets and handles platform-specific compile definitions for Windows DLLs.

```cmake
cmake_minimum_required(VERSION 3.20)

project(rosidl_typesupport_introspection_cpp)

# 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_package(ament_cmake_python REQUIRED)
find_package(ament_cmake_ros_core REQUIRED)
find_package(rosidl_runtime_cpp REQUIRED)
find_package(rosidl_typesupport_introspection_c REQUIRED)

ament_export_dependencies(rosidl_runtime_cpp rosidl_typesupport_introspection_c)

ament_python_install_package(${PROJECT_NAME})

add_library(${PROJECT_NAME} src/identifier.cpp)
if(WIN32)
  target_compile_definitions(${PROJECT_NAME}
    PRIVATE "ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_BUILDING_DLL")
endif()
target_include_directories(${PROJECT_NAME} PUBLIC
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${PROJECT_NAME} PUBLIC
  rosidl_runtime_cpp::rosidl_runtime_cpp
  rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
)

# Export old-style CMake variables
ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_libraries(${PROJECT_NAME})

# Export modern CMake targets
ament_export_targets(${PROJECT_NAME})

ament_index_register_resource("rosidl_typesupport_cpp")
ament_index_register_resource("rosidl_runtime_packages")

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

if(BUILD_SHARED_LIBS)
  set(${PROJECT_NAME}_LIBRARY_TYPE "SHARED")
else()
  set(${PROJECT_NAME}_LIBRARY_TYPE "STATIC")
endif()

ament_package(
  CONFIG_EXTRAS "rosidl_typesupport_introspection_cpp-extras.cmake.in"
)

install(
  PROGRAMS bin/rosidl_typesupport_introspection_cpp
  DESTINATION lib/rosidl_typesupport_introspection_cpp
)
install(
  DIRECTORY cmake resource
  DESTINATION share/${PROJECT_NAME}
)
install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)
install(
  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)
```

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

### ROSIDL Generator Type Description CMakeLists

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_generator_type_description/CMakeLists.txt

This CMakeLists.txt file configures the build process for the rosidl_generator_type_description package. It includes finding necessary packages like ament_cmake_python and ament_cmake_ros_core, registering resources, and handling testing dependencies if BUILD_TESTING is enabled.

```cmake
cmake_minimum_required(VERSION 3.20)

project(rosidl_generator_type_description)

find_package(ament_cmake_python REQUIRED)
find_package(ament_cmake_ros_core REQUIRED)

ament_index_register_resource("rosidl_generator_packages")
ament_python_install_package(${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  find_package(ament_cmake_pytest REQUIRED)
  ament_lint_auto_find_test_dependencies()
  ament_add_pytest_test(pytest_type_hash_generator test)
endif()

ament_package(
  CONFIG_EXTRAS "${PROJECT_NAME}-extras.cmake.in"
)

install(
  PROGRAMS bin/${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME}
)
install(
  DIRECTORY cmake resource
  DESTINATION share/${PROJECT_NAME}
)
```

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

### Define GTest and performance tests

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_runtime_c/CMakeLists.txt

Sets up C++17 standard and registers various GTest and performance test targets.

```cmake
  # For gtest
  enable_language(CXX)
  # Default to C++17
  if(NOT CMAKE_CXX_STANDARD)
    set(CMAKE_CXX_STANDARD 17)
  endif()

  find_package(ament_cmake_gtest REQUIRED)

  ament_add_gtest(test_message_type_support test/test_message_type_support.cpp)
  if(TARGET test_message_type_support)
    target_link_libraries(test_message_type_support ${PROJECT_NAME})
  endif()

  ament_add_gtest(test_primitives_sequence_functions test/test_primitives_sequence_functions.cpp)
  if(TARGET test_primitives_sequence_functions)
    target_link_libraries(test_primitives_sequence_functions ${PROJECT_NAME})
  endif()

  ament_add_gtest(test_sequence_bound test/test_sequence_bound.cpp)
  if(TARGET test_sequence_bound)
    target_link_libraries(test_sequence_bound ${PROJECT_NAME})
  endif()

  ament_add_gtest(test_service_type_support test/test_service_type_support.cpp)
  if(TARGET test_service_type_support)
    target_link_libraries(test_service_type_support ${PROJECT_NAME})
  endif()

  ament_add_gtest(test_string_functions test/test_string_functions.cpp)
  if(TARGET test_string_functions)
    target_link_libraries(test_string_functions ${PROJECT_NAME})
    target_compile_definitions(test_string_functions PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
  endif()

  ament_add_gtest(test_type_hash test/test_type_hash.cpp)
  if(TARGET test_type_hash)
    target_link_libraries(test_type_hash ${PROJECT_NAME})
  endif()

  ament_add_gtest(test_u16string_functions test/test_u16string_functions.cpp)
  if(TARGET test_u16string_functions)
    target_link_libraries(test_u16string_functions ${PROJECT_NAME})
    target_compile_definitions(test_u16string_functions PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
  endif()

  ament_add_gtest(test_type_description_utils test/test_type_description_utils.cpp)
  if(TARGET test_type_description_utils)
    target_link_libraries(test_type_description_utils ${PROJECT_NAME})
  endif()

  add_performance_test(benchmark_string_conversion test/benchmark/benchmark_string_conversion.cpp)
  if(TARGET benchmark_string_conversion)
    target_link_libraries(benchmark_string_conversion ${PROJECT_NAME})
  endif()
endif()
```

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

### Export targets and register resources

Source: https://github.com/ros2/rosidl/blob/rolling/rosidl_runtime_c/CMakeLists.txt

Exports CMake targets and registers the package in the ament index.

```cmake
ament_export_targets(${PROJECT_NAME})

ament_index_register_resource("rosidl_runtime_packages")
```

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