95 lines
2.7 KiB
CMake
95 lines
2.7 KiB
CMake
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
|
|
)
|
|
|
|
if(BUILD_TESTING)
|
|
find_package(ament_lint_auto REQUIRED)
|
|
ament_lint_auto_find_test_dependencies()
|
|
endif()
|
|
|
|
add_library(gripper_action_server SHARED src/gripper_control_action_server.cpp)
|
|
|
|
target_include_directories(gripper_action_server PRIVATE
|
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
$<INSTALL_INTERFACE:include>)
|
|
|
|
target_compile_definitions(gripper_action_server
|
|
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)
|
|
|
|
|
|
|
|
|
|
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)
|
|
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 ${deps})
|
|
|
|
install(
|
|
TARGETS
|
|
move_topose_action_server
|
|
gripper_action_server
|
|
pick_place_pose_loader
|
|
move_to_joint_states_action_server
|
|
move_cartesian_path_action_server
|
|
add_planning_scene_object_service
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
|
|
|
|
ament_package()
|