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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(reactor_controller)
if( NOT CMAKE_BUILD_TYPE )
set(CMAKE_BUILD_TYPE "RelWithDebInfo")
endif()
set(BUILD_FLAGS "-std=c++14 -Wall -Wextra -Wshadow -Wnon-virtual-dtor -Wpedantic -Werror")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${BUILD_FLAGS}")
## If MoveIt exists, build twist controller
find_package(moveit_core QUIET)
if(${moveit_core_FOUND})
## Find catkin macros and libraries
find_package(catkin REQUIRED
cmake_modules
dynamixel_msgs
moveit_core
moveit_msgs
moveit_ros_planning
roscpp
urdf
)
else()
message(WARNING "MoveIt not found, so not building controllers.")
## Find catkin macros and libraries
find_package(catkin REQUIRED
dynamixel_msgs
roscpp
urdf
)
endif()
catkin_package()
include_directories(SYSTEM
${catkin_INCLUDE_DIRS}
)
link_libraries(
${catkin_LIBRARIES}
)
add_executable(dynamixel_to_joint_state src/dynamixel_to_joint_state.cpp)
add_dependencies(dynamixel_to_joint_state ${catkin_EXPORTED_TARGETS})
if(${moveit_core_FOUND})
add_executable(twist_controller src/twist_controller.cpp)
add_dependencies(twist_controller ${catkin_EXPORTED_TARGETS})
endif()
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
## Declare a cpp library
# add_library(reactor_controller
# src/${PROJECT_NAME}/reactor_controller.cpp
# )
## Declare a cpp executable
# add_executable(reactor_controller_node src/reactor_controller_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(reactor_controller_node reactor_controller_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(reactor_controller_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS reactor_controller reactor_controller_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_reactor_controller.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)