cmake_minimum_required(VERSION 3.22) project(servo_arm_twist_pkg) # C++ Libraries ################################################# # 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) # Component Nodes (Shared libraries) ############################ set(SERVO_COMPONENT_NODE servo_node) set(SERVO_CONTROLLER_INPUT servo_controller_input) # Executable Nodes ############################################## set(SERVO_NODE_MAIN_NAME servo_node_main) set(POSE_TRACKING_DEMO_NAME servo_pose_tracking_demo) set(FAKE_SERVO_CMDS_NAME fake_command_publisher) ################################################################# # Common cmake code applied to all moveit packages find_package(moveit_common REQUIRED) moveit_package() set(THIS_PACKAGE_INCLUDE_DEPENDS control_msgs control_toolbox geometry_msgs moveit_core moveit_msgs moveit_ros_planning pluginlib rclcpp rclcpp_components sensor_msgs std_msgs std_srvs tf2_eigen trajectory_msgs ) find_package(ament_cmake REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) 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 ## ############# # 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 ) # # 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_${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies(${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()