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format cmake for skill servers

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This commit is contained in:
Ilya Uraev 2023-12-30 23:41:03 +03:00
parent 192887ab8b
commit e06f32ada6
1 changed files with 81 additions and 88 deletions
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169
rbs_skill_servers/CMakeLists.txt
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@ -39,7 +39,8 @@ find_package(rbs_utils REQUIRED)
# Default to Fortress # Default to Fortress
set(SDF_VER 12) 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(NOT DEFINED ENV{GZ_VERSION} AND DEFINED ENV{ROS_DISTRO})
if("$ENV{ROS_DISTRO}" STREQUAL "humble") if("$ENV{ROS_DISTRO}" STREQUAL "humble")
set(ENV{GZ_VERSION} "fortress") set(ENV{GZ_VERSION} "fortress")
@ -55,7 +56,7 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
find_package(sdformat13 REQUIRED) find_package(sdformat13 REQUIRED)
set(SDF_VER ${sdformat13_VERSION_MAJOR}) set(SDF_VER ${sdformat13_VERSION_MAJOR})
message(STATUS "Compiling against Gazebo Garden (libSDFormat 13)") message(STATUS "Compiling against Gazebo Garden (libSDFormat 13)")
# No GZ distribution specified, find any version of libsdformat we can # No GZ distribution specified, find any version of libsdformat we can
else() else()
foreach(major RANGE 13 9) foreach(major RANGE 13 9)
find_package(sdformat${major} QUIET) find_package(sdformat${major} QUIET)
@ -68,120 +69,112 @@ else()
endforeach() endforeach()
endif() endif()
include_directories(SYSTEM include_directories(SYSTEM ${TINYXML2_INCLUDE_DIR})
${TINYXML2_INCLUDE_DIR}
)
link_directories( link_directories(${TINYXML2_LIBRARY_DIRS})
${TINYXML2_LIBRARY_DIRS}
)
set(deps set(deps
rclcpp rclcpp
rclcpp_action rclcpp_action
moveit_core moveit_core
moveit_ros_planning moveit_ros_planning
moveit_ros_planning_interface moveit_ros_planning_interface
moveit_msgs moveit_msgs
geometry_msgs geometry_msgs
tf2_ros tf2_ros
rclcpp_components rclcpp_components
rbs_skill_interfaces rbs_skill_interfaces
tf2_eigen tf2_eigen
tf2_msgs tf2_msgs
tinyxml2_vendor tinyxml2_vendor
geometric_shapes geometric_shapes
sdformat${SDF_VER} sdformat${SDF_VER})
)
if(BUILD_TESTING) if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED) find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies() ament_lint_auto_find_test_dependencies()
endif() endif()
# -- GripperActionServer --
add_library(gripper_action_server SHARED src/gripper_control_action_server.cpp) 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
target_include_directories(gripper_action_server PRIVATE PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>)
$<INSTALL_INTERFACE:include>)
target_include_directories(pick_place_pose_loader PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(gripper_action_server target_compile_definitions(gripper_action_server
PRIVATE "GRIPPER_ACTION_SERVER_CPP_BUILDING_DLL") PRIVATE "GRIPPER_ACTION_SERVER_CPP_BUILDING_DLL")
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(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 $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
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) # -- MoveitActionServers --
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)
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}) 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) add_executable(move_topose_action_server src/move_topose_action_server.cpp)
ament_target_dependencies(move_topose_action_server ${deps}) 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}) ament_target_dependencies(move_cartesian_path_action_server ${deps})
add_executable(add_planning_scene_object_service src/add_planning_scene_objects_service.cpp) # add_executable(add_planning_scene_object_service
ament_target_dependencies(add_planning_scene_object_service ${deps}) # 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) # add_library(assemble_state_server SHARED src/assemble_state_server.cpp)
target_compile_definitions(assemble_state_server # target_compile_definitions(assemble_state_server
PRIVATE "ASSEMBLE_STATE_SERVER_CPP_BUILDING_DLL") # PRIVATE "ASSEMBLE_STATE_SERVER_CPP_BUILDING_DLL")
ament_target_dependencies(assemble_state_server ${deps}) # ament_target_dependencies(assemble_state_server ${deps})
target_link_libraries(assemble_state_server ${TINYXML2_LIBRARY}) # target_link_libraries(assemble_state_server ${TINYXML2_LIBRARY})
rclcpp_components_register_node(assemble_state_server PLUGIN "AssembleStateServer" EXECUTABLE assemble_state_service_server) # rclcpp_components_register_node(
# assemble_state_server PLUGIN "AssembleStateServer" EXECUTABLE
add_library(moveit_update_planning_scene_server SHARED src/moveit_update_planning_scene.cpp) # assemble_state_service_server)
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(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( install(
DIRECTORY include/ TARGETS move_topose_action_server
DESTINATION include gripper_action_server
) pick_place_pose_loader
move_to_joint_states_action_server
install( move_cartesian_path_action_server
DIRECTORY launch config # add_planning_scene_object_service
DESTINATION share/${PROJECT_NAME} # assemble_state_server
) # moveit_update_planning_scene_server
install(
TARGETS
move_topose_action_server
gripper_action_server
pick_place_pose_loader
move_to_joint_states_action_server
move_cartesian_path_action_server
add_planning_scene_object_service
assemble_state_server
moveit_update_planning_scene_server
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME} RUNTIME DESTINATION lib/${PROJECT_NAME})
)
ament_export_include_directories(
include
)
ament_export_include_directories(include)
ament_package() ament_package()