CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(msg_introspection_demo)

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

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

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rosidl_typesupport_introspection_cpp REQUIRED)

# Create message
set(msg_files
  "msg/MyMessage.msg"
)
rosidl_generate_interfaces(${PROJECT_NAME}
  ${msg_files}
  DEPENDENCIES std_msgs
)

add_executable(publisher src/publisher.cpp)
ament_target_dependencies(publisher rclcpp std_msgs)

add_executable(subscriber src/subscriber.cpp)
ament_target_dependencies(subscriber rclcpp rosidl_typesupport_introspection_cpp)

rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(publisher ${cpp_typesupport_target})

install(TARGETS
  publisher
  subscriber
  DESTINATION lib/${PROJECT_NAME}
)

ament_export_dependencies(rosidl_default_runtime)

ament_package()