From e06f32ada68a19677bb3d6ec2a2629014bf5eb9d Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Sat, 30 Dec 2023 23:41:03 +0300 Subject: [PATCH] format cmake for skill servers --- rbs_skill_servers/CMakeLists.txt | 169 +++++++++++++++---------------- 1 file changed, 81 insertions(+), 88 deletions(-) diff --git a/rbs_skill_servers/CMakeLists.txt b/rbs_skill_servers/CMakeLists.txt index 919b957..b28d42b 100644 --- a/rbs_skill_servers/CMakeLists.txt +++ b/rbs_skill_servers/CMakeLists.txt @@ -39,7 +39,8 @@ find_package(rbs_utils REQUIRED) # Default to Fortress set(SDF_VER 12) -# If the user didn't specify a GZ distribution, pick the one matching the ROS distribution according to REP 2000 +# If the user didn't specify a GZ distribution, pick the one matching the ROS +# distribution according to REP 2000 if(NOT DEFINED ENV{GZ_VERSION} AND DEFINED ENV{ROS_DISTRO}) if("$ENV{ROS_DISTRO}" STREQUAL "humble") set(ENV{GZ_VERSION} "fortress") @@ -55,7 +56,7 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden") find_package(sdformat13 REQUIRED) set(SDF_VER ${sdformat13_VERSION_MAJOR}) message(STATUS "Compiling against Gazebo Garden (libSDFormat 13)") -# No GZ distribution specified, find any version of libsdformat we can + # No GZ distribution specified, find any version of libsdformat we can else() foreach(major RANGE 13 9) find_package(sdformat${major} QUIET) @@ -68,120 +69,112 @@ else() endforeach() endif() -include_directories(SYSTEM - ${TINYXML2_INCLUDE_DIR} -) +include_directories(SYSTEM ${TINYXML2_INCLUDE_DIR}) -link_directories( - ${TINYXML2_LIBRARY_DIRS} -) +link_directories(${TINYXML2_LIBRARY_DIRS}) set(deps - rclcpp - rclcpp_action - moveit_core - moveit_ros_planning - moveit_ros_planning_interface - moveit_msgs - geometry_msgs - tf2_ros - rclcpp_components - rbs_skill_interfaces - tf2_eigen - tf2_msgs - tinyxml2_vendor - geometric_shapes - sdformat${SDF_VER} -) + rclcpp + rclcpp_action + moveit_core + moveit_ros_planning + moveit_ros_planning_interface + moveit_msgs + geometry_msgs + tf2_ros + rclcpp_components + rbs_skill_interfaces + tf2_eigen + tf2_msgs + tinyxml2_vendor + geometric_shapes + sdformat${SDF_VER}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() endif() +# -- GripperActionServer -- add_library(gripper_action_server SHARED src/gripper_control_action_server.cpp) -add_library(pick_place_pose_loader SHARED src/pick_place_pose_loader.cpp) - -target_include_directories(gripper_action_server PRIVATE - $ - $) - - target_include_directories(pick_place_pose_loader PRIVATE - $ - $) - +target_include_directories( + gripper_action_server + PRIVATE $ + $) target_compile_definitions(gripper_action_server - PRIVATE "GRIPPER_ACTION_SERVER_CPP_BUILDING_DLL") - -target_compile_definitions(pick_place_pose_loader - PRIVATE "PICK_PLACE_POSE_LOADER_CPP_BUILDING_DLL") - + PRIVATE "GRIPPER_ACTION_SERVER_CPP_BUILDING_DLL") ament_target_dependencies(gripper_action_server ${deps}) +rclcpp_components_register_node( + gripper_action_server PLUGIN "rbs_skill_actions::GripperControlActionServer" + EXECUTABLE gripper_control_action_server) -ament_target_dependencies(pick_place_pose_loader ${deps} Eigen3 nlohmann_json rbs_utils) +# -- PickPlacePoseLoader -- +add_library(pick_place_pose_loader SHARED src/pick_place_pose_loader.cpp) +target_include_directories( + pick_place_pose_loader + PRIVATE $ + $) +target_compile_definitions(pick_place_pose_loader + PRIVATE "PICK_PLACE_POSE_LOADER_CPP_BUILDING_DLL") +ament_target_dependencies(pick_place_pose_loader ${deps} Eigen3 nlohmann_json + rbs_utils) +rclcpp_components_register_node( + pick_place_pose_loader PLUGIN "rbs_skill_actions::GetGraspPickPoseServer" + EXECUTABLE pick_place_pose_loader_service_server) -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) - -add_executable(move_to_joint_states_action_server src/move_to_joint_states_action_server.cpp) +# -- MoveitActionServers -- +add_executable(move_to_joint_states_action_server + src/move_to_joint_states_action_server.cpp) ament_target_dependencies(move_to_joint_states_action_server ${deps}) -#add_executable(pick_place_pose_loader src/get_grasp_pick_pose.cpp) -#ament_target_dependencies(pick_place_pose_loader ${deps}) - add_executable(move_topose_action_server src/move_topose_action_server.cpp) ament_target_dependencies(move_topose_action_server ${deps}) -add_executable(move_cartesian_path_action_server src/move_cartesian_path_action_server.cpp) +add_executable(move_cartesian_path_action_server + src/move_cartesian_path_action_server.cpp) ament_target_dependencies(move_cartesian_path_action_server ${deps}) -add_executable(add_planning_scene_object_service src/add_planning_scene_objects_service.cpp) -ament_target_dependencies(add_planning_scene_object_service ${deps}) +# add_executable(add_planning_scene_object_service +# src/add_planning_scene_objects_service.cpp) +# ament_target_dependencies(add_planning_scene_object_service ${deps}) -add_library(assemble_state_server SHARED src/assemble_state_server.cpp) -target_compile_definitions(assemble_state_server - PRIVATE "ASSEMBLE_STATE_SERVER_CPP_BUILDING_DLL") -ament_target_dependencies(assemble_state_server ${deps}) -target_link_libraries(assemble_state_server ${TINYXML2_LIBRARY}) -rclcpp_components_register_node(assemble_state_server PLUGIN "AssembleStateServer" EXECUTABLE assemble_state_service_server) - -add_library(moveit_update_planning_scene_server SHARED src/moveit_update_planning_scene.cpp) -target_compile_definitions(moveit_update_planning_scene_server - PRIVATE "MOVEIT_UPDATE_PLANNING_SCENE_SERVER_CPP_BUILDING_DLL") -ament_target_dependencies(moveit_update_planning_scene_server ${deps}) -target_link_libraries(moveit_update_planning_scene_server ${TINYXML2_LIBRARY}) -rclcpp_components_register_node(moveit_update_planning_scene_server PLUGIN "UpdatePlanningSceneServer" EXECUTABLE moveit_update_planning_scene_service_server) +# add_library(assemble_state_server SHARED src/assemble_state_server.cpp) +# target_compile_definitions(assemble_state_server +# PRIVATE "ASSEMBLE_STATE_SERVER_CPP_BUILDING_DLL") +# ament_target_dependencies(assemble_state_server ${deps}) +# target_link_libraries(assemble_state_server ${TINYXML2_LIBRARY}) +# rclcpp_components_register_node( +# assemble_state_server PLUGIN "AssembleStateServer" EXECUTABLE +# assemble_state_service_server) +# add_library(moveit_update_planning_scene_server SHARED +# src/moveit_update_planning_scene.cpp) +# target_compile_definitions( +# moveit_update_planning_scene_server +# PRIVATE "MOVEIT_UPDATE_PLANNING_SCENE_SERVER_CPP_BUILDING_DLL") +# ament_target_dependencies(moveit_update_planning_scene_server ${deps}) +# target_link_libraries(moveit_update_planning_scene_server ${TINYXML2_LIBRARY}) +# rclcpp_components_register_node( +# moveit_update_planning_scene_server PLUGIN "UpdatePlanningSceneServer" +# EXECUTABLE moveit_update_planning_scene_service_server) +# +install(DIRECTORY include/ DESTINATION include) +install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME}) install( - DIRECTORY include/ - DESTINATION include -) - -install( - DIRECTORY launch config - DESTINATION share/${PROJECT_NAME} -) - -install( - TARGETS - move_topose_action_server - gripper_action_server - pick_place_pose_loader - move_to_joint_states_action_server - move_cartesian_path_action_server - add_planning_scene_object_service - assemble_state_server - moveit_update_planning_scene_server + TARGETS move_topose_action_server + gripper_action_server + pick_place_pose_loader + move_to_joint_states_action_server + move_cartesian_path_action_server + # add_planning_scene_object_service + # assemble_state_server + # moveit_update_planning_scene_server ARCHIVE DESTINATION lib LIBRARY DESTINATION lib - RUNTIME DESTINATION lib/${PROJECT_NAME} -) - -ament_export_include_directories( - include -) + RUNTIME DESTINATION lib/${PROJECT_NAME}) +ament_export_include_directories(include) ament_package()