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CMakeLists.txt
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CMakeLists.txt
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#==============================================================================
# Dependencies
#
find_package(trajectory_msgs QUIET)
aikido_check_package(trajectory_msgs "aikido::control::ros" "trajectory_msgs")
# TODO: Workaround because find_package(actionlib) imports "tests" and "run_tests"
# targets that conflict with the targets defined by Aikido.
find_path(actionlib_INCLUDE_DIRS actionlib PATHS "/opt/ros/indigo/include")
find_library(actionlib_LIBRARIES actionlib PATHS "/opt/ros/indigo/lib")
evaluate_condition(actionlib_FOUND actionlib_INCLUDE_DIRS AND actionlib_LIBRARIES)
#find_package(actionlib QUIET)
aikido_check_package(actionlib "aikido::control::ros" "actionlib")
find_path(control_msgs_INCLUDE_DIRS control_msgs PATHS "/opt/ros/indigo/include")
#find_library(control_msgs_LIBRARIES control_msgs PATHS "/opt/ros/indigo/lib")
evaluate_condition(control_msgs_FOUND control_msgs_INCLUDE_DIRS)
aikido_check_package(control_msgs "aikido::control::ros" "control_msgs")
find_package(roscpp QUIET)
aikido_check_package(roscpp "aikido::control::ros" "roscpp")
#==============================================================================
# Libraries
#
set(sources
RosTrajectoryExecutor.cpp
RosTrajectoryExecutionException.cpp
Conversions.cpp
)
add_library("${PROJECT_NAME}_control_ros" SHARED ${sources})
target_include_directories("${PROJECT_NAME}_control_ros" SYSTEM
PUBLIC
${trajectory_msgs_INCLUDE_DIRS}
${actionlib_INCLUDE_DIRS}
${control_msgs_INCLUDE_DIRS}
${roscpp_INCLUDE_DIRS}
)
target_link_libraries("${PROJECT_NAME}_control_ros"
"${PROJECT_NAME}_control"
"${PROJECT_NAME}_statespace"
"${PROJECT_NAME}_trajectory"
${DART_LIBRARIES}
${trajectory_msgs_LIBRARIES}
${actionlib_LIBRARIES}
${control_msgs_LIBRARIES}
${roscpp_LIBRARIES}
)
add_component(${PROJECT_NAME} control_ros)
add_component_targets(${PROJECT_NAME} control_ros "${PROJECT_NAME}_control_ros")
add_component_dependencies(${PROJECT_NAME} control_ros control statespace trajectory)
coveralls_add_sources(${sources})