robossembler/runtime
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add rbs_utils

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This commit is contained in:
Ilya Uraev 2023-12-11 18:31:12 +03:00
parent f1a6f4d817
commit d84e8ead97
9 changed files with 551 additions and 23 deletions
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8
rbs_skill_servers/CMakeLists.txt
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@ -32,8 +32,9 @@ find_package(tf2_eigen REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(tinyxml2_vendor REQUIRED)
find_package(TinyXML2 REQUIRED)
find_package (Eigen3 3.3 REQUIRED)
find_package(Eigen3 3.3 REQUIRED)
find_package(nlohmann_json 3.2.0 REQUIRED)
find_package(rbs_utils REQUIRED)
# Default to Fortress
set(SDF_VER 12)
@ -116,7 +117,8 @@ target_compile_definitions(pick_place_pose_loader
PRIVATE "PICK_PLACE_POSE_LOADER_CPP_BUILDING_DLL")
ament_target_dependencies(gripper_action_server ${deps})
ament_target_dependencies(pick_place_pose_loader ${deps} Eigen3)
ament_target_dependencies(pick_place_pose_loader ${deps} Eigen3 nlohmann_json rbs_utils)
rclcpp_components_register_node(gripper_action_server PLUGIN "rbs_skill_actions::GripperControlActionServer" EXECUTABLE gripper_control_action_server)
rclcpp_components_register_node(pick_place_pose_loader PLUGIN "rbs_skill_actions::GetGraspPickPoseServer" EXECUTABLE pick_place_pose_loader_service_server)