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style: cleanup servo_arm_twist_pkg CMakeLists

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David
2025-10-23 16:47:27 -05:00
parent 01ea43968d
commit 611ac90f54
1 changed files with 2 additions and 141 deletions
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143
src/servo_arm_twist_pkg/CMakeLists.txt
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@@ -6,11 +6,6 @@ project(servo_arm_twist_pkg)
# Core C++ library for calculations and collision checking. # Core C++ library for calculations and collision checking.
# Provides interface used by the component node. # Provides interface used by the component node.
set(SERVO_LIB_NAME servo_arm_twist_lib) 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 # Pose Tracking
set(POSE_TRACKING pose_tracking) set(POSE_TRACKING pose_tracking)
@@ -54,76 +49,15 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED) find_package(${Dependency} REQUIRED)
endforeach() endforeach()
# include_directories(
# include
# )
###################
## C++ Libraries ##
###################
# # This library provides a way of loading parameters for servo
# add_library(${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} ${SERVO_LIB_NAME})
##################### #####################
## Component Nodes ## ## Component Nodes ##
##################### #####################
# # Add and export library to run as a ROS node component, and receive commands via topics
# add_library(${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 executable for using a controller
add_library(${SERVO_CONTROLLER_INPUT} SHARED src/joystick_twist.cpp) add_library(${SERVO_CONTROLLER_INPUT} SHARED src/joystick_twist.cpp)
ament_target_dependencies(${SERVO_CONTROLLER_INPUT} ${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_target_dependencies(${SERVO_CONTROLLER_INPUT} ${THIS_PACKAGE_INCLUDE_DEPENDS})
rclcpp_components_register_nodes(${SERVO_CONTROLLER_INPUT} "servo_arm_twist_pkg::JoyToServoPub") 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(${FAKE_SERVO_CMDS_NAME}
# rclcpp
# geometry_msgs
# std_srvs
# )
############# #############
## Install ## ## Install ##
############# #############
@@ -131,89 +65,16 @@ rclcpp_components_register_nodes(${SERVO_CONTROLLER_INPUT} "servo_arm_twist_pkg:
# Install Libraries # Install Libraries
install( install(
TARGETS TARGETS
# ${SERVO_LIB_NAME}
# ${SERVO_LIB_NAME}_parameters
# ${POSE_TRACKING}
# ${SERVO_COMPONENT_NODE}
${SERVO_CONTROLLER_INPUT} ${SERVO_CONTROLLER_INPUT}
EXPORT export_${PROJECT_NAME} EXPORT export_${PROJECT_NAME}
LIBRARY DESTINATION lib LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin RUNTIME DESTINATION bin
# INCLUDES DESTINATION include INCLUDES DESTINATION include
) )
# # Install Binaries # 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})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_export_dependencies(${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() ament_package()