136 lines
3.7 KiB
CMake
136 lines
3.7 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(rbs_skill_servers)
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# Set default standards
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS TRUE)
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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(moveit_core REQUIRED)
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find_package(moveit_ros_planning REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(moveit_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(rbs_skill_interfaces REQUIRED)
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find_package(rmw REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(tf2_msgs REQUIRED)
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find_package(Eigen3 3.3 REQUIRED)
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find_package(rbs_utils REQUIRED)
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find_package(controller_manager_msgs REQUIRED)
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find_package(control_msgs REQUIRED)
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set(DEPS
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rclcpp
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rclcpp_action
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moveit_core
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moveit_ros_planning
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moveit_ros_planning_interface
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control_msgs
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controller_manager_msgs
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moveit_msgs
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geometry_msgs
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tf2_ros
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rclcpp_components
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rbs_skill_interfaces
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tf2_eigen
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tf2_msgs
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geometric_shapes
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)
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macro(add_ros2_component target_name source_file plugin_name executable_name)
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add_library(${target_name} SHARED ${source_file})
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target_include_directories(${target_name}
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PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_compile_definitions(${target_name} PRIVATE "${target_name}_BUILDING_DLL")
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ament_target_dependencies(${target_name} ${DEPS})
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rclcpp_components_register_node(${target_name} PLUGIN ${plugin_name} EXECUTABLE ${executable_name})
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endmacro()
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# Add components
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add_ros2_component(gripper_action_server
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src/gripper_command.cpp
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"rbs_skill_actions::GripperControlActionServer"
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gripper_command)
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add_ros2_component(cartesian_move_to_pose
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src/mtp_cart.cpp
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"rbs_skill_actions::CartesianMoveToPose"
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mtp_cart)
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add_ros2_component(move_to_joint_states
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src/mtjs_jtc.cpp
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"rbs_skill_actions::MoveToJointStateActionServer"
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mtjs_jtc)
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add_ros2_component(move_to_pose
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src/mtp_jtc.cpp
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"rbs_skill_actions::MoveToPose"
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mtp_jtc)
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add_ros2_component(move_to_pose_cartesian
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src/mtp_jtc_cart.cpp
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"rbs_skill_actions::MoveToPoseJtcCartesian"
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mtp_jtc_cart)
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add_ros2_component(move_to_pose_moveit
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src/mtp_moveit.cpp
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"rbs_skill_actions::MoveitMtp"
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mtp_moveit)
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add_ros2_component(move_to_pose_moveit_cartesian
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src/mtp_moveit_cart.cpp
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"rbs_skill_actions::MoveitMtpCart"
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mtp_moveit_cart)
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add_ros2_component(move_to_pose_orientation_constraint
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src/mtp_moveit_constraints.cpp
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"rbs_skill_actions::MoveitMtpOrientationConstraint"
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mtp_moveit_orientation_constraint
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)
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# Install directories and targets
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install(DIRECTORY include/ DESTINATION include)
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install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
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install(
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TARGETS
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gripper_action_server
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cartesian_move_to_pose
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move_to_joint_states
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move_to_pose
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move_to_pose_cartesian
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move_to_pose_moveit_cartesian
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move_to_pose_moveit
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move_to_pose_orientation_constraint
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME})
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ament_export_include_directories(include)
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ament_python_install_package(${PROJECT_NAME})
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install(PROGRAMS
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scripts/test_cartesian_controller.py
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scripts/move_to_pose.py
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()
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