build: lower required cmake version to 3.16

We are mainly developing for noetic, where the standard cmake version from the official package repositories is 3.16.3. CCache usage is now depending on whether cmake 3.18 or higher is used, because it uses a call to cmake_language which is a new feature in 3.18.
ubi-agni · Aug 4, 2023 · bdd9a58 · bdd9a58
1 parent 8487c26
commit bdd9a58
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/mujoco_ros/CMakeLists.txt b/mujoco_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.17 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
 project(mujoco_ros VERSION 0.6.0 LANGUAGES CXX)
 
 set(CMAKE_C_STANDARD 11)

diff --git a/mujoco_ros/cmake/ProjectOption.cmake b/mujoco_ros/cmake/ProjectOption.cmake
@@ -57,7 +57,9 @@ function(configure_project_option)
   configure_project_setting()
 
   configure_interprocedural_optimization(DISABLE_FOR_CONFIG ${IPO_DISABLE_FOR_CONFIG})
-  configure_compiler_cache(OPTION ${CCACHE_LAUNCHER} BASE_DIR ${CCACHE_CCACHE_BASE_DIR})
+  if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.18")
+    configure_compiler_cache(OPTION ${CCACHE_LAUNCHER} BASE_DIR ${CCACHE_CCACHE_BASE_DIR})
+  endif()
   configure_project_warnings(TARGET ${WARNING_TARGET} WARNINGS ${WARNING_PROJECT_WARNINGS})
   configure_project_avx_support(TARGET ${AVX_TARGET})