8005.ros2 添加boost库asio编程

ros2 添加boost库asio编程

## boost 库 由vs2019编译，具体编译步骤参考 博客.
## 注意不能打开 message 打印信息，因为在ros2中这样会报错.
add_definitions(-D_WIN32_WINNT=0x0601)
set(Boost_USE_STATIC_LIBS
ON) # only find static libs
set(Boost_USE_MULTITHREADED
ON)
set(Boost_USE_STATIC_RUNTIME
OFF)
set(BOOST_ROOT D:/01softInstall/opt_lib/boost_1_72_install)
find_package(Boost 1.72.0 REQUIRED COMPONENTS thread atomic system regex)
if(Boost_FOUND)
#
message(Boost_INCLUDE_DIRS " ${Boost_INCLUDE_DIRS}")
#
message(Boost_LIBRARY_DIRS " ${Boost_LIBRARY_DIRS}")
include_directories(${Boost_INCLUDE_DIRS})
endif()
include_directories(include/ros2_msg_middleware)
add_executable(rosmsg_middleware src/main.cpp
src/pthread_task_station.hpp
src/pthread_swarm_msg_discovery.hpp
src/pthread_swarm_send.cpp
src/single_instance.cpp
src/TcpServer.hpp)
target_link_libraries(rosmsg_middleware ${Boost_LIBRARIES})

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