Implement initial axidraw_controller

src/axidraw_controller/CMakeLists.txt

@@ -10,6 +10,29 @@ find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
+#
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(robot_interfaces REQUIRED)
+find_package(robot_controller REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+
+find_package(tf2_ros REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+add_executable(axidraw_controller src/cpp/axidraw_controller.cpp)
+ament_target_dependencies(axidraw_controller
+    "rclcpp"
+    "geometry_msgs"
+    "robot_controller"
+    "robot_interfaces"
+)
+
+install(PROGRAMS
+    src/py/axidraw_serial.py
+    DESTINATION lib/${PROJECT_NAME}
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -22,4 +45,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+# Install directories
+#install(DIRECTORY launch rviz urdf worlds DESTINATION share/${PROJECT_NAME})
+
 ament_package()