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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(ros_control_boilerplate)
# C++ 11
if(NOT "${CMAKE_CXX_STANDARD}")
set(CMAKE_CXX_STANDARD 11)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
find_package(catkin REQUIRED COMPONENTS
actionlib
cmake_modules
control_msgs
control_toolbox
controller_manager
hardware_interface
joint_limits_interface
roscpp
rosparam_shortcuts
sensor_msgs
std_msgs
trajectory_msgs
transmission_interface
urdf
)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake)
find_package(Gflags REQUIRED)
catkin_package(
INCLUDE_DIRS
include
CATKIN_DEPENDS
actionlib
control_msgs
control_toolbox
controller_manager
hardware_interface
joint_limits_interface
roscpp
rosparam_shortcuts
sensor_msgs
std_msgs
trajectory_msgs
transmission_interface
urdf
LIBRARIES
generic_hw_control_loop
generic_hw_interface
sim_hw_interface
)
###########
## Build ##
###########
include_directories(
include/
${catkin_INCLUDE_DIRS}
${Gflags_INCLUDE_DIRS}
)
# Control loop
add_library(generic_hw_control_loop
src/generic_hw_control_loop.cpp
)
target_link_libraries(generic_hw_control_loop
${catkin_LIBRARIES}
)
# Generic Hardware Interface
add_library(generic_hw_interface
src/generic_hw_interface.cpp
)
target_link_libraries(generic_hw_interface
${catkin_LIBRARIES}
)
# Simulation Hardware Interface
add_library(sim_hw_interface
src/sim_hw_interface.cpp
)
target_link_libraries(sim_hw_interface
generic_hw_interface
${catkin_LIBRARIES}
)
# Main control executable
add_executable(${PROJECT_NAME}_sim_hw_main src/sim_hw_main.cpp)
set_target_properties(${PROJECT_NAME}_sim_hw_main PROPERTIES OUTPUT_NAME sim_hw_main PREFIX "")
target_link_libraries(${PROJECT_NAME}_sim_hw_main
sim_hw_interface
generic_hw_control_loop
${catkin_LIBRARIES}
)
# Test trajectory generator node
add_executable(${PROJECT_NAME}_test_trajectory src/tools/test_trajectory.cpp)
set_target_properties(${PROJECT_NAME}_test_trajectory PROPERTIES OUTPUT_NAME test_trajectory PREFIX "")
target_link_libraries(${PROJECT_NAME}_test_trajectory
${catkin_LIBRARIES}
)
## TOOLS ------------------------------------------------------
# Tool for analyzing controller performance
add_library(controller_to_csv src/tools/controller_to_csv.cpp)
target_link_libraries(controller_to_csv
${catkin_LIBRARIES}
)
add_executable(${PROJECT_NAME}_controller_to_csv_main src/tools/controller_to_csv_main.cpp)
set_target_properties(${PROJECT_NAME}_controller_to_csv_main PROPERTIES OUTPUT_NAME controller_to_csv_main PREFIX "")
target_link_libraries(${PROJECT_NAME}_controller_to_csv_main
controller_to_csv
${Gflags_LIBRARIES}
${catkin_LIBRARIES}
)
# Tool for analyzing controller performance
add_library(csv_to_controller src/tools/csv_to_controller.cpp)
target_link_libraries(csv_to_controller
${catkin_LIBRARIES}
)
add_executable(${PROJECT_NAME}_csv_to_controller_main src/tools/csv_to_controller_main.cpp)
set_target_properties(${PROJECT_NAME}_csv_to_controller_main PROPERTIES OUTPUT_NAME csv_to_controller_main PREFIX "")
target_link_libraries(${PROJECT_NAME}_csv_to_controller_main
csv_to_controller
${Gflags_LIBRARIES}
${catkin_LIBRARIES}
)
# Tool for controlling a robot from keyboard
add_executable(${PROJECT_NAME}_keyboard_teleop src/tools/keyboard_teleop.cpp)
set_target_properties(${PROJECT_NAME}_keyboard_teleop PROPERTIES OUTPUT_NAME keyboard_teleop PREFIX "")
target_link_libraries(${PROJECT_NAME}_keyboard_teleop
${catkin_LIBRARIES}
)
add_subdirectory(rrbot_control)
## Install ------------------------------------------------------------
# Install libraries
install(TARGETS
controller_to_csv
csv_to_controller
generic_hw_control_loop
generic_hw_interface
sim_hw_interface
LIBRARY DESTINATION
${CATKIN_PACKAGE_LIB_DESTINATION}
)
# Install executables
install(TARGETS
${PROJECT_NAME}_controller_to_csv_main
${PROJECT_NAME}_csv_to_controller_main
${PROJECT_NAME}_keyboard_teleop
${PROJECT_NAME}_sim_hw_main
${PROJECT_NAME}_test_trajectory
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install header files
install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})