180 lines
6.2 KiB
CMake
180 lines
6.2 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(rbs_skill_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++17
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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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# 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(tinyxml2_vendor REQUIRED)
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find_package(TinyXML2 REQUIRED)
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find_package(Eigen3 3.3 REQUIRED)
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find_package(nlohmann_json 3.2.0 REQUIRED)
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find_package(rbs_utils REQUIRED)
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# Default to Fortress
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set(SDF_VER 12)
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# If the user didn't specify a GZ distribution, pick the one matching the ROS
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# distribution according to REP 2000
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if(NOT DEFINED ENV{GZ_VERSION} AND DEFINED ENV{ROS_DISTRO})
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if("$ENV{ROS_DISTRO}" STREQUAL "humble")
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set(ENV{GZ_VERSION} "fortress")
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endif()
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endif()
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# Find libsdformat matching the picked GZ distribution
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if("$ENV{GZ_VERSION}" STREQUAL "fortress")
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find_package(sdformat12 REQUIRED)
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set(SDF_VER ${sdformat12_VERSION_MAJOR})
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message(STATUS "Compiling against Gazebo Fortress (libSDFormat 12)")
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elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
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find_package(sdformat13 REQUIRED)
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set(SDF_VER ${sdformat13_VERSION_MAJOR})
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message(STATUS "Compiling against Gazebo Garden (libSDFormat 13)")
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# No GZ distribution specified, find any version of libsdformat we can
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else()
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foreach(major RANGE 13 9)
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find_package(sdformat${major} QUIET)
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if(sdformat${major}_FOUND)
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# Next `find_package` call will be a noop
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set(SDF_VER ${major})
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message(STATUS "Compiling against libSDFormat ${major}")
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break()
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endif()
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endforeach()
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endif()
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include_directories(SYSTEM ${TINYXML2_INCLUDE_DIR})
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link_directories(${TINYXML2_LIBRARY_DIRS})
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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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rbs_skill_interfaces
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tf2_eigen
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tf2_msgs
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tinyxml2_vendor
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geometric_shapes
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sdformat${SDF_VER})
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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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# -- GripperActionServer --
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add_library(gripper_action_server SHARED src/gripper_control_action_server.cpp)
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target_include_directories(
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gripper_action_server
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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(gripper_action_server
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PRIVATE "GRIPPER_ACTION_SERVER_CPP_BUILDING_DLL")
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ament_target_dependencies(gripper_action_server ${deps})
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rclcpp_components_register_node(
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gripper_action_server PLUGIN "rbs_skill_actions::GripperControlActionServer"
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EXECUTABLE gripper_control_action_server)
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# -- PickPlacePoseLoader --
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add_library(pick_place_pose_loader SHARED src/pick_place_pose_loader.cpp)
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target_include_directories(
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pick_place_pose_loader
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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(pick_place_pose_loader
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PRIVATE "PICK_PLACE_POSE_LOADER_CPP_BUILDING_DLL")
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ament_target_dependencies(pick_place_pose_loader ${deps} Eigen3 nlohmann_json
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rbs_utils)
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rclcpp_components_register_node(
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pick_place_pose_loader PLUGIN "rbs_skill_actions::GetGraspPickPoseServer"
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EXECUTABLE pick_place_pose_loader_service_server)
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# -- MoveitActionServers --
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add_executable(move_to_joint_states_action_server
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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
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src/move_cartesian_path_action_server.cpp)
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ament_target_dependencies(move_cartesian_path_action_server ${deps})
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# add_executable(add_planning_scene_object_service
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# src/add_planning_scene_objects_service.cpp)
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# ament_target_dependencies(add_planning_scene_object_service ${deps})
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# add_library(assemble_state_server SHARED src/assemble_state_server.cpp)
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# target_compile_definitions(assemble_state_server
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# PRIVATE "ASSEMBLE_STATE_SERVER_CPP_BUILDING_DLL")
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# ament_target_dependencies(assemble_state_server ${deps})
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# target_link_libraries(assemble_state_server ${TINYXML2_LIBRARY})
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# rclcpp_components_register_node(
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# assemble_state_server PLUGIN "AssembleStateServer" EXECUTABLE
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# assemble_state_service_server)
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# add_library(moveit_update_planning_scene_server SHARED
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# src/moveit_update_planning_scene.cpp)
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# target_compile_definitions(
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# moveit_update_planning_scene_server
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# PRIVATE "MOVEIT_UPDATE_PLANNING_SCENE_SERVER_CPP_BUILDING_DLL")
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# ament_target_dependencies(moveit_update_planning_scene_server ${deps})
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# target_link_libraries(moveit_update_planning_scene_server ${TINYXML2_LIBRARY})
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# rclcpp_components_register_node(
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# moveit_update_planning_scene_server PLUGIN "UpdatePlanningSceneServer"
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# EXECUTABLE moveit_update_planning_scene_service_server)
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#
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install(DIRECTORY include/ DESTINATION include)
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install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
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install(
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TARGETS move_topose_action_server
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gripper_action_server
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pick_place_pose_loader
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move_to_joint_states_action_server
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move_cartesian_path_action_server
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# add_planning_scene_object_service
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# assemble_state_server
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# moveit_update_planning_scene_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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ament_export_include_directories(include)
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ament_package()
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