[cmake] Add new class.

CMakeLists.txt

+
 cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
+set(CMAKE_CXX_STANDARD 17)
+
 project(gz-gep-tools)
 
+
 set(CMAKE_VERBOSE_MAKEFILE TRUE)
 
 # Find the Gazebo Transport library
 find_package(gz-transport13 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 
-add_library(gz_transport_hw_interface
+add_library(gz_transport_hw_interface SHARED
   src/joint_state_interface.cc
+  src/control_over_gz.cc
 )
-target_compile_features(gz_transport_hw_interface PUBLIC cxx_std_17)
 target_include_directories(gz_transport_hw_interface PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>    
   $<INSTALL_INTERFACE:include>)
 target_link_libraries(gz_transport_hw_interface gz-transport${GZ_TRANSPORT_VER}::core)
 
 
-add_executable(publisher publisher.cc)
-target_include_directories(publisher PUBLIC
+add_executable(control_loop ./tools/control_loop.cc)
+target_include_directories(control_loop PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>    
   $<INSTALL_INTERFACE:include>)
-target_compile_features(publisher PUBLIC cxx_std_17)
-target_link_libraries(publisher gz_transport_hw_interface)
+target_link_libraries(control_loop gz_transport_hw_interface)