mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 17:30:36 +00:00
81 lines
2.1 KiB
CMake
81 lines
2.1 KiB
CMake
cmake_minimum_required(VERSION 3.22)
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project(servo_arm_twist_pkg)
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# C++ Libraries #################################################
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# Core C++ library for calculations and collision checking.
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# Provides interface used by the component node.
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set(SERVO_LIB_NAME servo_arm_twist_lib)
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# Pose Tracking
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set(POSE_TRACKING pose_tracking)
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# Component Nodes (Shared libraries) ############################
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set(SERVO_COMPONENT_NODE servo_node)
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set(SERVO_CONTROLLER_INPUT servo_controller_input)
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# Executable Nodes ##############################################
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set(SERVO_NODE_MAIN_NAME servo_node_main)
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set(POSE_TRACKING_DEMO_NAME servo_pose_tracking_demo)
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set(FAKE_SERVO_CMDS_NAME fake_command_publisher)
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#################################################################
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# Common cmake code applied to all moveit packages
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find_package(moveit_common REQUIRED)
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moveit_package()
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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control_msgs
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control_toolbox
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geometry_msgs
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moveit_core
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moveit_msgs
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moveit_ros_planning
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pluginlib
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rclcpp
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rclcpp_components
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sensor_msgs
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std_msgs
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std_srvs
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tf2_eigen
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trajectory_msgs
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)
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find_package(ament_cmake REQUIRED)
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find_package(eigen3_cmake_module REQUIRED)
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find_package(Eigen3 REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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#####################
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## Component Nodes ##
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#####################
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# Add executable for using a controller
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add_library(${SERVO_CONTROLLER_INPUT} SHARED src/joystick_twist.cpp)
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ament_target_dependencies(${SERVO_CONTROLLER_INPUT} ${THIS_PACKAGE_INCLUDE_DEPENDS})
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rclcpp_components_register_nodes(${SERVO_CONTROLLER_INPUT} "servo_arm_twist_pkg::JoyToServoPub")
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#############
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## Install ##
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#############
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# Install Libraries
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install(
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TARGETS
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${SERVO_CONTROLLER_INPUT}
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EXPORT export_${PROJECT_NAME}
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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# Install Binaries
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()
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