Add basic support for rclc demos to support Android (#51) (#52)

* Add missing a missing dependency: visualization_msgs

Signed-off-by: Joel Cao <joel.cao@oppo.com>

* Pass cross compiling flags to sub-projects

Signed-off-by: Joel Cao <joel.cao@oppo.com>

Co-authored-by: Joel Cao <joel.cao@oppo.com>
(cherry picked from commit 4ab3395)

Co-authored-by: kneep <alvin.cao@gmail.com>

Author: mergify[bot]

rclc/CMakeLists.txt

@@ -7,6 +7,15 @@ find_package(ament_cmake REQUIRED)
 include(ExternalProject)
 include(CMakeParseArguments)
 
+if(ANDROID)
+    set(CROSS_CMAKE_ARGS
+        -DCMAKE_TOOLCHAIN_FILE:PATH=${CMAKE_TOOLCHAIN_FILE}
+        -DCMAKE_SYSTEM_VERSION:STRING=${CMAKE_SYSTEM_VERSION}
+        -DCMAKE_ANDROID_ARCH_ABI:STRING=${CMAKE_ANDROID_ARCH_ABI}
+        -DCMAKE_FIND_ROOT_PATH_MODE_PACKAGE:STRING=BOTH
+        )
+endif()
+
 function(export_executable)
     set(subtree "")
     foreach(arg IN LISTS ARGN)
@@ -26,6 +35,7 @@ function(export_executable)
             -DBUILD_SHARED_LIBS:BOOL=${BUILD_SHARED_LIBS}
             -DCMAKE_PREFIX_PATH:PATH=${CMAKE_PREFIX_PATH}
             -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+            ${CROSS_CMAKE_ARGS}
     )
 endfunction()
 

rclc/package.xml

@@ -19,6 +19,7 @@
   <depend>example_interfaces</depend>
   <depend>complex_msgs</depend>
   <depend>sensor_msgs</depend>
+  <depend>visualization_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>microxrcedds_client</depend>
   <depend>micro_ros_utilities</depend>
@@ -31,4 +32,4 @@
     <build_type>ament_cmake</build_type>
   </export>
 
-</package>
+</package>