Bill Finger
d7f1c0cb1b
- Set success flags on results when actions complete successfully in both `mtp_jeet_cart.cpp` and `mtp_jtc.cpp`, providing proper feedback to clients. - Increased trajectory planning granularity by adjusting the divisor from 0.01 to 0.001 in `mtp_jtc_cart.cpp`, resulting in smoother robot movements. - Introduced a new service `GetNamedPose` defined in `GetNamedPose.srv`, allowing nodes to request specific poses by name, enhancing modularity and reusability. - Optimized motion planning in `mtp_jtc.cpp` by immediately succeeding when no movement is needed, reducing unnecessary computations. - Updated `CMakeLists.txt` to include the new service
42 lines
1.2 KiB
CMake
42 lines
1.2 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(rbs_utils_interfaces)
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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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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/AssemblyConfig.msg"
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"msg/NamedPose.msg"
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"msg/RelativeNamedPose.msg"
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"srv/GetGraspPose.srv"
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"srv/GetPlacePose.srv"
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"srv/GetWorkspace.srv"
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"srv/GetNamedPose.srv"
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DEPENDENCIES std_msgs geometry_msgs
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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