style: cleanup servo_arm_twist_pkg CMakeLists

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()