From 611ac90f542bd1f187fe903e5c865b46e1eb9832 Mon Sep 17 00:00:00 2001 From: David Date: Thu, 23 Oct 2025 16:47:27 -0500 Subject: [PATCH] style: cleanup servo_arm_twist_pkg CMakeLists --- src/servo_arm_twist_pkg/CMakeLists.txt | 143 +------------------------ 1 file changed, 2 insertions(+), 141 deletions(-) diff --git a/src/servo_arm_twist_pkg/CMakeLists.txt b/src/servo_arm_twist_pkg/CMakeLists.txt index 346d9ea..8719d44 100644 --- a/src/servo_arm_twist_pkg/CMakeLists.txt +++ b/src/servo_arm_twist_pkg/CMakeLists.txt @@ -6,11 +6,6 @@ project(servo_arm_twist_pkg) # Core C++ library for calculations and collision checking. # Provides interface used by the component node. set(SERVO_LIB_NAME servo_arm_twist_lib) -# C++ library containing the parameters initialization -# - This is intended to use with the component node when you -# - need to read the parameters loaded into servo in a separate -# - node. -# set(SERVO_PARAM_LIB_NAME ${SERVO_LIB_NAME}_parameters) # Pose Tracking set(POSE_TRACKING pose_tracking) @@ -54,76 +49,15 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() -# include_directories( -# include -# ) - -################### -## C++ Libraries ## -################### - -# # This library provides a way of loading parameters for servo -# add_library(${SERVO_PARAM_LIB_NAME} SHARED -# src/servo_parameters.cpp -# src/parameter_descriptor_builder.cpp -# ) -# set_target_properties(${SERVO_PARAM_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -# ament_target_dependencies(${SERVO_PARAM_LIB_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS}) - -# # This library provides a C++ interface for sending realtime twist or joint commands to a robot -# add_library(${SERVO_LIB_NAME} SHARED -# # These files are used to produce differential motion -# src/collision_check.cpp -# src/enforce_limits.cpp -# src/servo.cpp -# src/servo_calcs.cpp -# src/utilities.cpp -# ) -# set_target_properties(${SERVO_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -# ament_target_dependencies(${SERVO_LIB_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS}) -# target_link_libraries(${SERVO_LIB_NAME} ${SERVO_PARAM_LIB_NAME}) - -# add_library(${POSE_TRACKING} SHARED src/pose_tracking.cpp) -# ament_target_dependencies(${POSE_TRACKING} ${THIS_PACKAGE_INCLUDE_DEPENDS}) -# target_link_libraries(${POSE_TRACKING} ${SERVO_LIB_NAME}) - ##################### ## Component Nodes ## ##################### -# # Add and export library to run as a ROS node component, and receive commands via topics -# add_library(${SERVO_COMPONENT_NODE} SHARED src/servo_node.cpp) -# ament_target_dependencies(${SERVO_COMPONENT_NODE} ${THIS_PACKAGE_INCLUDE_DEPENDS}) -# target_link_libraries(${SERVO_COMPONENT_NODE} ${SERVO_LIB_NAME}) -# rclcpp_components_register_nodes(${SERVO_COMPONENT_NODE} "servo_arm_twist_pkg::ServoNode") - # Add executable for using a controller add_library(${SERVO_CONTROLLER_INPUT} SHARED src/joystick_twist.cpp) ament_target_dependencies(${SERVO_CONTROLLER_INPUT} ${THIS_PACKAGE_INCLUDE_DEPENDS}) rclcpp_components_register_nodes(${SERVO_CONTROLLER_INPUT} "servo_arm_twist_pkg::JoyToServoPub") -###################### -## Executable Nodes ## -###################### - -# # An executable node for the servo server -# add_executable(${SERVO_NODE_MAIN_NAME} src/servo_node_main.cpp) -# target_link_libraries(${SERVO_NODE_MAIN_NAME} ${SERVO_COMPONENT_NODE}) -# ament_target_dependencies(${SERVO_NODE_MAIN_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS}) - -# # An example of pose tracking -# add_executable(${POSE_TRACKING_DEMO_NAME} src/cpp_interface_demo/pose_tracking_demo.cpp) -# target_link_libraries(${POSE_TRACKING_DEMO_NAME} ${POSE_TRACKING}) -# ament_target_dependencies(${POSE_TRACKING_DEMO_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS}) - -# # Add executable to publish fake servo commands for testing/demo purposes -# add_executable(${FAKE_SERVO_CMDS_NAME} test/publish_fake_jog_commands.cpp) -# ament_target_dependencies(${FAKE_SERVO_CMDS_NAME} -# rclcpp -# geometry_msgs -# std_srvs -# ) - ############# ## Install ## ############# @@ -131,89 +65,16 @@ rclcpp_components_register_nodes(${SERVO_CONTROLLER_INPUT} "servo_arm_twist_pkg: # Install Libraries install( TARGETS - # ${SERVO_LIB_NAME} - # ${SERVO_LIB_NAME}_parameters - # ${POSE_TRACKING} - # ${SERVO_COMPONENT_NODE} ${SERVO_CONTROLLER_INPUT} EXPORT export_${PROJECT_NAME} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin - # INCLUDES DESTINATION include + INCLUDES DESTINATION include ) -# # Install Binaries -# install( -# TARGETS -# ${SERVO_NODE_MAIN_NAME} -# ${CPP_DEMO_NAME} -# ${POSE_TRACKING_DEMO_NAME} -# ${FAKE_SERVO_CMDS_NAME} -# ARCHIVE DESTINATION lib -# LIBRARY DESTINATION lib -# RUNTIME DESTINATION lib/${PROJECT_NAME} -# ) - -# # Install include, launch, config directories -# install(DIRECTORY include/ DESTINATION include) -# install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -# install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) - +# Install Binaries ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) -############# -## TESTING ## -############# - -# if(BUILD_TESTING) -# find_package(ament_lint_auto REQUIRED) -# find_package(ament_cmake_gtest REQUIRED) -# find_package(ros_testing REQUIRED) -# find_package(Boost REQUIRED COMPONENTS filesystem) - -# # These don't pass yet, disable them for now -# set(ament_cmake_copyright_FOUND TRUE) -# set(ament_cmake_cpplint_FOUND TRUE) -# set(ament_cmake_flake8_FOUND TRUE) -# set(ament_cmake_uncrustify_FOUND TRUE) - -# # Run all lint tests in package.xml except those listed above -# ament_lint_auto_find_test_dependencies() - -# # Servo integration launch test -# ament_add_gtest_executable(test_servo_integration -# test/test_servo_interface.cpp -# test/servo_launch_test_common.hpp -# ) -# target_link_libraries(test_servo_integration ${SERVO_PARAM_LIB_NAME}) -# ament_target_dependencies(test_servo_integration ${THIS_PACKAGE_INCLUDE_DEPENDS}) -# add_ros_test(test/launch/test_servo_integration.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - -# # Servo collision checking integration test -# ament_add_gtest_executable(test_servo_collision -# test/test_servo_collision.cpp -# test/servo_launch_test_common.hpp -# ) -# target_link_libraries(test_servo_collision ${SERVO_PARAM_LIB_NAME}) -# ament_target_dependencies(test_servo_collision ${THIS_PACKAGE_INCLUDE_DEPENDS}) -# add_ros_test(test/launch/test_servo_collision.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - -# # pose_tracking -# ament_add_gtest_executable(test_servo_pose_tracking -# test/pose_tracking_test.cpp -# ) -# ament_target_dependencies(test_servo_pose_tracking ${THIS_PACKAGE_INCLUDE_DEPENDS}) -# target_link_libraries(test_servo_pose_tracking ${POSE_TRACKING}) -# add_ros_test(test/launch/test_servo_pose_tracking.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") - -# # Unit tests -# ament_add_gtest(servo_calcs_unit_tests -# test/servo_calcs_unit_tests.cpp -# ) -# target_link_libraries(servo_calcs_unit_tests ${SERVO_LIB_NAME}) - -# endif() - ament_package()