Added basic drive functions

compLib/CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.26)
+project(comp_lib)
+
+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(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(irobot_create_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+# add_executable(talker src/publisher_member_function.cpp)
+# ament_target_dependencies(talker rclcpp std_msgs irobot_create_msgs)
+
+# add_executable(listener src/subscriber_member_function.cpp)
+# ament_target_dependencies(listener rclcpp std_msgs irobot_create_msgs)
+
+# add_executable(drive src/drive_action.cpp)
+# ament_target_dependencies(drive rclcpp rclcpp_action std_msgs irobot_create_msgs)
+
+# add_executable(set_vel src/set_speed.cpp)
+# ament_target_dependencies(set_vel rclcpp rclcpp_action std_msgs irobot_create_msgs geometry_msgs)
+
+add_executable(compLib_node src/main.cpp src/motor.cpp)
+ament_target_dependencies(compLib_node rclcpp rclcpp_action std_msgs irobot_create_msgs geometry_msgs)
+
+target_include_directories(compLib_node PRIVATE include)
+
+install(TARGETS
+  #talker
+  #listener
+  #drive
+  #set_vel
+  compLib_node
+  DESTINATION lib/${PROJECT_NAME})
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()