Migrate to Gazebo Fortress

rbs_skill_servers/CMakeLists.txt

@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.8)
+project(rbs_skill_servers)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(moveit_core REQUIRED)
+find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+find_package(moveit_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rbs_skill_interfaces REQUIRED)
+find_package(rmw REQUIRED)
+
+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
+)
+#
+# include_directories(include)
+
+# install(DIRECTORY include
+#   DESTINATION include
+# )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# add_library(gripper_cmd_action_server SHARED src/gripper_cmd.cpp)
+# ament_target_dependencies(gripper_cmd_action_server ${deps})
+# target_include_directories(gripper_cmd_action_server PRIVATE
+#     $<BUILD_INTERFACE:${CMAKE_CURRENT_DIR}/include>
+#     $<INSTALL_INTERFACE:include>)
+# target_compile_definitions(gripper_cmd_action_server PRIVATE "GRIPPER_CMD_ACTION_SERVER_CPP_BUILDING_DLL")
+# rclcpp_components_register_node(gripper_cmd_action_server PLUGIN "robossembler_servers::GripperCmd" EXECUTABLE gripper_cmd_node)
+
+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(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)
+ament_target_dependencies(move_cartesian_path_action_server ${deps})
+
+install(
+  TARGETS 
+  move_topose_action_server
+  move_to_joint_states_action_server
+  move_cartesian_path_action_server
+  #gripper_cmd_action_server
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+
+ament_package()