Library Creation Guide

The ADORe libraryes CMake system automatically generates library targets based on directory structure in the lib/ folder.

Library Types

Static Library

lib/
└── my_library/
    ├── include/
    │   └── my_library/
    │       └── header.hpp
    └── src/
        └── implementation.cpp

• Requires: Both include/ and src/ directories
• Generated: add_library(my_library STATIC)
• Auto-includes: All *.cpp files in src/

Interface Library (Header-only)

lib/
└── my_header_lib/
    └── include/
        └── my_header_lib/
            └── header<.hpp or .h>

• Requires: Only include/ directory (no src/)
• Generated: add_library(my_header_lib INTERFACE)
• Use case: Header-only libraries, templates

Executable Targets

Executable targets are automatically generated for any .cpp file containing int main(.

Auto-Detection

lib/
├── my_library/
│   └── src/
│       └── library_code.cpp
└── test_programs/
    ├── demo_app/
    │   └── main.cpp              # Contains int main()
    └── unit_tests/
        └── test_runner.cpp       # Contains int main()

Generated Targets

• Target name: Based on filename without extension
• Example: demo_app/main.cpp → main executable
• Output: Built to build/bin/
• Auto-linking: All library targets automatically linked

Requirements

// File: lib/examples/hello_world.cpp
#include <iostream>

int main() {  // This pattern triggers auto-generation
    std::cout << "Hello World!" << std::endl;
    return 0;
}

Auto-Generated Features

• Include directories: Automatically set up for consumers
• Linking: All libraries auto-link to each other (configurable)
• Output location: Libraries built to build/lib/

Exclusions

Add patterns to .cmakeignore to skip auto-generation:

lib/experimental_lib
lib/*/test
**/debug_*.cpp

Dependencies

Create lib/my_library/requirements.cmake for external dependencies:

find_package(SomePackage REQUIRED)
target_link_libraries(my_library PRIVATE SomePackage::SomePackage)

Example

1. Create directory: mkdir -p lib/math_utils/{include/math_utils,src}
2. Add header: lib/math_utils/include/math_utils/calculator.hpp
3. Add source: lib/math_utils/src/calculator.cpp
4. Run make build - library/target math_utils is automatically created

Consuming an Auto-generated Library

1. In the CMakeLists.txt for your program include the adore_libraries.cmake file. Inside the ADORE CLI docker context the environmental variable SOURCE_DIRECTORY will be set. This can be used to locate the adore_libraries.cmake:

include($ENV{SOURCE_DIRECTORY}/libraries/adore_libraries.cmake)

2. Create a `requirements.cmake` file in the same directory as your
`CMakeLists.txt` and add any special cmake requirements:
```cmake
include(requirements.cmake)

Example requirements.cmake file:

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(Eigen3 REQUIRED)
set(Eigen3_TARGETS Eigen3::Eigen)

1. Invoke the helper functions on your target provided by adore_libraries.cmake to auto link and include libraries:

add_all_target_include_directories(${PROJECT})
add_all_target_link_libraries(${PROJECT})