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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.16)
project(joint_trajectory_controller LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
angles
control_msgs
control_toolbox
controller_interface
generate_parameter_library
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
realtime_tools
rsl
tl_expected
trajectory_msgs
urdf
)
find_package(ament_cmake REQUIRED)
find_package(backward_ros REQUIRED)
foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()
generate_parameter_library(joint_trajectory_controller_parameters
src/joint_trajectory_controller_parameters.yaml
include/joint_trajectory_controller/validate_jtc_parameters.hpp
)
add_library(joint_trajectory_controller SHARED
src/joint_trajectory_controller.cpp
src/trajectory.cpp
)
target_compile_features(joint_trajectory_controller PUBLIC cxx_std_17)
target_include_directories(joint_trajectory_controller PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/joint_trajectory_controller>
)
target_link_libraries(joint_trajectory_controller PUBLIC
joint_trajectory_controller_parameters
)
ament_target_dependencies(joint_trajectory_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(joint_trajectory_controller PRIVATE "JOINT_TRAJECTORY_CONTROLLER_BUILDING_DLL" "_USE_MATH_DEFINES")
pluginlib_export_plugin_description_file(controller_interface joint_trajectory_plugin.xml)
if(BUILD_TESTING)
find_package(ament_cmake_gmock REQUIRED)
find_package(controller_manager REQUIRED)
find_package(ros2_control_test_assets REQUIRED)
ament_add_gmock(test_trajectory test/test_trajectory.cpp)
target_link_libraries(test_trajectory joint_trajectory_controller)
target_compile_definitions(test_trajectory PRIVATE _USE_MATH_DEFINES)
ament_add_gmock(test_trajectory_controller
test/test_trajectory_controller.cpp)
set_tests_properties(test_trajectory_controller PROPERTIES TIMEOUT 220)
target_link_libraries(test_trajectory_controller
joint_trajectory_controller
)
target_compile_definitions(joint_trajectory_controller PRIVATE _USE_MATH_DEFINES)
ament_add_gmock(test_load_joint_trajectory_controller
test/test_load_joint_trajectory_controller.cpp
)
target_link_libraries(test_load_joint_trajectory_controller
joint_trajectory_controller
)
ament_target_dependencies(test_load_joint_trajectory_controller
controller_manager
control_toolbox
realtime_tools
ros2_control_test_assets
)
ament_add_gmock(test_trajectory_actions
test/test_trajectory_actions.cpp
)
set_tests_properties(test_trajectory_actions PROPERTIES TIMEOUT 300)
target_link_libraries(test_trajectory_actions
joint_trajectory_controller
)
endif()
install(
DIRECTORY include/
DESTINATION include/joint_trajectory_controller
)
install(TARGETS
joint_trajectory_controller
joint_trajectory_controller_parameters
EXPORT export_joint_trajectory_controller
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)
ament_export_targets(export_joint_trajectory_controller HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()