mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 09:20:40 +00:00
220 lines
7.3 KiB
CMake
220 lines
7.3 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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# C++ library containing the parameters initialization
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# - This is intended to use with the component node when you
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# - need to read the parameters loaded into servo in a separate
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# - node.
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# set(SERVO_PARAM_LIB_NAME ${SERVO_LIB_NAME}_parameters)
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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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include_directories(
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include
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)
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###################
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## C++ Libraries ##
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###################
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# # This library provides a way of loading parameters for servo
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# add_library(${SERVO_PARAM_LIB_NAME} SHARED
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# src/servo_parameters.cpp
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# src/parameter_descriptor_builder.cpp
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# )
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# set_target_properties(${SERVO_PARAM_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
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# ament_target_dependencies(${SERVO_PARAM_LIB_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# # This library provides a C++ interface for sending realtime twist or joint commands to a robot
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# add_library(${SERVO_LIB_NAME} SHARED
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# # These files are used to produce differential motion
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# src/collision_check.cpp
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# src/enforce_limits.cpp
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# src/servo.cpp
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# src/servo_calcs.cpp
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# src/utilities.cpp
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# )
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# set_target_properties(${SERVO_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
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# ament_target_dependencies(${SERVO_LIB_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# target_link_libraries(${SERVO_LIB_NAME} ${SERVO_PARAM_LIB_NAME})
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# add_library(${POSE_TRACKING} SHARED src/pose_tracking.cpp)
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# ament_target_dependencies(${POSE_TRACKING} ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# target_link_libraries(${POSE_TRACKING} ${SERVO_LIB_NAME})
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#####################
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## Component Nodes ##
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#####################
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# # Add and export library to run as a ROS node component, and receive commands via topics
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# add_library(${SERVO_COMPONENT_NODE} SHARED src/servo_node.cpp)
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# ament_target_dependencies(${SERVO_COMPONENT_NODE} ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# target_link_libraries(${SERVO_COMPONENT_NODE} ${SERVO_LIB_NAME})
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# rclcpp_components_register_nodes(${SERVO_COMPONENT_NODE} "servo_arm_twist_pkg::ServoNode")
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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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## Executable Nodes ##
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######################
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# # An executable node for the servo server
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# add_executable(${SERVO_NODE_MAIN_NAME} src/servo_node_main.cpp)
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# target_link_libraries(${SERVO_NODE_MAIN_NAME} ${SERVO_COMPONENT_NODE})
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# ament_target_dependencies(${SERVO_NODE_MAIN_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# # An example of pose tracking
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# add_executable(${POSE_TRACKING_DEMO_NAME} src/cpp_interface_demo/pose_tracking_demo.cpp)
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# target_link_libraries(${POSE_TRACKING_DEMO_NAME} ${POSE_TRACKING})
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# ament_target_dependencies(${POSE_TRACKING_DEMO_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# # Add executable to publish fake servo commands for testing/demo purposes
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# add_executable(${FAKE_SERVO_CMDS_NAME} test/publish_fake_jog_commands.cpp)
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# ament_target_dependencies(${FAKE_SERVO_CMDS_NAME}
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# rclcpp
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# geometry_msgs
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# std_srvs
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# )
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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_LIB_NAME}
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# ${SERVO_LIB_NAME}_parameters
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# ${POSE_TRACKING}
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# ${SERVO_COMPONENT_NODE}
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${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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# install(
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# TARGETS
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# ${SERVO_NODE_MAIN_NAME}
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# ${CPP_DEMO_NAME}
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# ${POSE_TRACKING_DEMO_NAME}
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# ${FAKE_SERVO_CMDS_NAME}
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# ARCHIVE DESTINATION lib
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# LIBRARY DESTINATION lib
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# RUNTIME DESTINATION lib/${PROJECT_NAME}
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# )
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# Install include, launch, config directories
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install(DIRECTORY include/ DESTINATION include)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
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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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#############
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## TESTING ##
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#############
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# if(BUILD_TESTING)
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# find_package(ament_lint_auto REQUIRED)
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# find_package(ament_cmake_gtest REQUIRED)
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# find_package(ros_testing REQUIRED)
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# find_package(Boost REQUIRED COMPONENTS filesystem)
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# # These don't pass yet, disable them for now
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# set(ament_cmake_copyright_FOUND TRUE)
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# set(ament_cmake_cpplint_FOUND TRUE)
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# set(ament_cmake_flake8_FOUND TRUE)
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# set(ament_cmake_uncrustify_FOUND TRUE)
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# # Run all lint tests in package.xml except those listed above
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# ament_lint_auto_find_test_dependencies()
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# # Servo integration launch test
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# ament_add_gtest_executable(test_servo_integration
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# test/test_servo_interface.cpp
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# test/servo_launch_test_common.hpp
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# )
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# target_link_libraries(test_servo_integration ${SERVO_PARAM_LIB_NAME})
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# ament_target_dependencies(test_servo_integration ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# add_ros_test(test/launch/test_servo_integration.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
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# # Servo collision checking integration test
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# ament_add_gtest_executable(test_servo_collision
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# test/test_servo_collision.cpp
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# test/servo_launch_test_common.hpp
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# )
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# target_link_libraries(test_servo_collision ${SERVO_PARAM_LIB_NAME})
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# ament_target_dependencies(test_servo_collision ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# add_ros_test(test/launch/test_servo_collision.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
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# # pose_tracking
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# ament_add_gtest_executable(test_servo_pose_tracking
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# test/pose_tracking_test.cpp
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# )
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# ament_target_dependencies(test_servo_pose_tracking ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# target_link_libraries(test_servo_pose_tracking ${POSE_TRACKING})
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# add_ros_test(test/launch/test_servo_pose_tracking.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
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# # Unit tests
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# ament_add_gtest(servo_calcs_unit_tests
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# test/servo_calcs_unit_tests.cpp
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# )
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# target_link_libraries(servo_calcs_unit_tests ${SERVO_LIB_NAME})
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# endif()
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ament_package()
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