87 lines
2.5 KiB
CMake
87 lines
2.5 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(robossembler_servers)
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# Default to C99
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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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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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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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# 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(robossembler_interfaces REQUIRED)
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find_package(rmw REQUIRED)
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find_package(gazebo_ros_link_attacher 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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moveit_msgs
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geometry_msgs
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tf2_ros
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rclcpp_components
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robossembler_interfaces
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gazebo_ros_link_attacher
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)
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#
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# include_directories(include)
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# install(DIRECTORY include
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# DESTINATION include
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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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ament_lint_auto_find_test_dependencies()
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endif()
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add_library(gripper_cmd_action_server SHARED src/gripper_cmd.cpp)
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ament_target_dependencies(gripper_cmd_action_server ${deps})
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target_include_directories(gripper_cmd_action_server PRIVATE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_compile_definitions(gripper_cmd_action_server PRIVATE "GRIPPER_CMD_ACTION_SERVER_CPP_BUILDING_DLL")
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rclcpp_components_register_node(gripper_cmd_action_server PLUGIN "robossembler_servers::GripperCmd" EXECUTABLE gripper_cmd_node)
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add_executable(move_to_joint_states_action_server src/move_to_joint_states_action_server.cpp)
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ament_target_dependencies(move_to_joint_states_action_server ${deps})
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add_executable(move_topose_action_server src/move_topose_action_server.cpp)
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ament_target_dependencies(move_topose_action_server ${deps})
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add_executable(move_cartesian_path_action_server src/move_cartesian_path_action_server.cpp)
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ament_target_dependencies(move_cartesian_path_action_server ${deps})
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install(
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TARGETS
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move_topose_action_server
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move_to_joint_states_action_server
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move_cartesian_path_action_server
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gripper_cmd_action_server
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()
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