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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(herb_description)
find_package(catkin REQUIRED)
catkin_package()
option(BUILD_ALL_HERB_MODELS "Build all variations of the HERB models" ON)
function(build_xacro infile outfile xacro_args)
# Call out to xacro to get dependencies
execute_process(COMMAND "${CATKIN_ENV} rosrun xacro xacro --deps \"${infile}\""
ERROR_VARIABLE _xacro_err_ignore
OUTPUT_VARIABLE _xacro_deps_result
OUTPUT_STRIP_TRAILING_WHITESPACE)
separate_arguments(_xacro_deps_result)
separate_arguments(xacro_args)
# Process xacro into final output
add_custom_command(OUTPUT "${outfile}"
COMMENT "Generating ${outfile}"
COMMAND ${CATKIN_ENV} rosrun xacro xacro --inorder
-o "${outfile}" "${infile}" ${_xacro_deps_result} ${xacro_args}
DEPENDS "${infile}" ${_xacro_deps_result}
VERBATIM)
endfunction(build_xacro)
macro(append_hand_flags hand hand_option urdf_args srdf_args)
if(${hand_option} STREQUAL "bh280")
list(APPEND ${urdf_args} "${hand}_bh280:=true")
endif()
if(${hand_option} STREQUAL "bh282")
list(APPEND ${urdf_args} "${hand}_bh282:=true")
list(APPEND ${srdf_args} "${hand}_perception:=true")
endif()
if(${hand_option} STREQUAL "wsg50")
list(APPEND ${urdf_args} "${hand}_wsg50:=true")
endif()
if(NOT ${hand_option} STREQUAL "no")
list(APPEND ${srdf_args} "${hand}_hand:=true")
endif()
endmacro(append_hand_flags)
set(ROBOTS_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/robots")
set(BASE_OUTPUT_DIR "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}")
set(ROBOTS_OUTPUT_DIR "${BASE_OUTPUT_DIR}/robots")
file(MAKE_DIRECTORY ${ROBOTS_OUTPUT_DIR})
# Build component parts
set(WAM_STANDALONE_URDF_XACRO "${ROBOTS_SRC_DIR}/wam_standalone.urdf.xacro")
set(WAM_STANDALONE_URDF "${ROBOTS_OUTPUT_DIR}/wam.urdf")
set(BH280_STANDALONE_URDF_XACRO "${ROBOTS_SRC_DIR}/bh280_standalone.urdf.xacro")
set(BH280_STANDALONE_URDF "${ROBOTS_OUTPUT_DIR}/bh280.urdf")
set(BH280_STANDALONE_SRDF_XACRO "${ROBOTS_SRC_DIR}/bh280_standalone.srdf.xacro")
set(BH280_STANDALONE_SRDF "${ROBOTS_OUTPUT_DIR}/bh280.srdf")
set(BH282_STANDALONE_URDF_XACRO "${ROBOTS_SRC_DIR}/bh282_standalone.urdf.xacro")
set(BH282_STANDALONE_URDF "${ROBOTS_OUTPUT_DIR}/bh282.urdf")
set(BH282_STANDALONE_SRDF_XACRO "${ROBOTS_SRC_DIR}/bh282_standalone.srdf.xacro")
set(BH282_STANDALONE_SRDF "${ROBOTS_OUTPUT_DIR}/bh282.srdf")
set(WSG50_STANDALONE_URDF_XACRO "${ROBOTS_SRC_DIR}/wsg50_standalone.urdf.xacro")
set(WSG50_STANDALONE_URDF "${ROBOTS_OUTPUT_DIR}/wsg50.urdf")
set(WSG50_STANDALONE_SRDF_XACRO "${ROBOTS_SRC_DIR}/wsg50_standalone.srdf.xacro")
set(WSG50_STANDALONE_SRDF "${ROBOTS_OUTPUT_DIR}/wsg50.srdf")
set(WAM_BH280_STANDALONE_URDF_XACRO "${ROBOTS_SRC_DIR}/wam_bh280_standalone.urdf.xacro")
set(WAM_BH280_STANDALONE_URDF "${ROBOTS_OUTPUT_DIR}/wam_bh280.urdf")
set(WAM_BH282_STANDALONE_URDF_XACRO "${ROBOTS_SRC_DIR}/wam_bh282_standalone.urdf.xacro")
set(WAM_BH282_STANDALONE_URDF "${ROBOTS_OUTPUT_DIR}/wam_bh282.urdf")
set(WAM_WSG50_STANDALONE_URDF_XACRO "${ROBOTS_SRC_DIR}/wam_wsg50_standalone.urdf.xacro")
set(WAM_WSG50_STANDALONE_URDF "${ROBOTS_OUTPUT_DIR}/wam_wsg50.urdf")
build_xacro(${WAM_STANDALONE_URDF_XACRO} ${WAM_STANDALONE_URDF} "")
build_xacro(${BH280_STANDALONE_URDF_XACRO} ${BH280_STANDALONE_URDF} "")
build_xacro(${BH280_STANDALONE_SRDF_XACRO} ${BH280_STANDALONE_SRDF} "")
build_xacro(${BH282_STANDALONE_URDF_XACRO} ${BH282_STANDALONE_URDF} "")
build_xacro(${BH282_STANDALONE_SRDF_XACRO} ${BH282_STANDALONE_SRDF} "")
build_xacro(${WSG50_STANDALONE_URDF_XACRO} ${WSG50_STANDALONE_URDF} "")
build_xacro(${WSG50_STANDALONE_SRDF_XACRO} ${WSG50_STANDALONE_SRDF} "")
build_xacro(${WAM_BH280_STANDALONE_URDF_XACRO} ${WAM_BH280_STANDALONE_URDF} "")
build_xacro(${WAM_BH282_STANDALONE_URDF_XACRO} ${WAM_BH282_STANDALONE_URDF} "")
build_xacro(${WAM_WSG50_STANDALONE_URDF_XACRO} ${WAM_WSG50_STANDALONE_URDF} "")
# HERB model matrix
#
# | LEFT | RIGHT |
# |-------|-------|
# | None | None |
# | None | BH280 |
# | None | BH282 |
# | None | WSG50 |
# | BH280 | None |
# | BH280 | BH280 | # impossible
# | BH280 | BH282 | # DEFAULT
# | BH280 | WSG50 |
# | BH282 | None |
# | BH282 | BH280 |
# | BH282 | BH282 | # impossible
# | BH282 | WSG50 |
# | WSG50 | None |
# | WSG50 | BH280 |
# | WSG50 | BH282 |
# | WSG50 | WSG50 | # impossible
set(HERB_HAND_OPTIONS "bh280" "bh282" "wsg50" "no")
# Default HERB (two BH280 hands)
set(HERB_URDF_XACRO "${ROBOTS_SRC_DIR}/herb.urdf.xacro")
set(HERB_URDF "${ROBOTS_OUTPUT_DIR}/herb.urdf")
set(HERB_SRDF_XACRO "${ROBOTS_SRC_DIR}/herb.srdf.xacro")
set(HERB_SRDF "${ROBOTS_OUTPUT_DIR}/herb.srdf")
set(FULL_HERB_URDF_ARGS "left_bh280:=true" "right_bh282:=true")
build_xacro(${HERB_URDF_XACRO} ${HERB_URDF} "${FULL_HERB_URDF_ARGS}")
set(FULL_HERB_SRDF_ARGS "left_barrett:=true" "right_barrett:=true" "right_perception:=true")
build_xacro(${HERB_SRDF_XACRO} ${HERB_SRDF} "${FULL_HERB_SRDF_ARGS}")
list(APPEND CORE_DESCRIPTION_FILES
${WAM_STANDALONE_URDF}
${BH280_STANDALONE_URDF}
${BH280_STANDALONE_SRDF}
${BH282_STANDALONE_URDF}
${BH282_STANDALONE_SRDF}
${WSG50_STANDALONE_URDF}
${WSG50_STANDALONE_SRDF}
${WAM_BH280_STANDALONE_URDF}
${WAM_BH282_STANDALONE_URDF}
${WAM_WSG50_STANDALONE_URDF}
${HERB_URDF}
${HERB_SRDF}
)
if(BUILD_ALL_HERB_MODELS)
set(EXTRA_DESCRIPTION_FILES)
# Generate combinatorial hand option models
foreach(LEFT_HAND ${HERB_HAND_OPTIONS})
foreach(RIGHT_HAND ${HERB_HAND_OPTIONS})
# Default configure is named differently and handled outside loop.
set(IS_DEFAULT_HAND_CASE (${LEFT_HAND} STREQUAL "bh280" AND ${RIGHT_HAND} STREQUAL "bh282"))
# We only have one of each type of hand
set(IS_DUAL_BH280_CASE (${LEFT_HAND} STREQUAL "bh280" AND ${RIGHT_HAND} STREQUAL "bh280"))
set(IS_DUAL_BH282_CASE (${LEFT_HAND} STREQUAL "bh282" AND ${RIGHT_HAND} STREQUAL "bh282"))
set(IS_DUAL_WSG50_CASE (${LEFT_HAND} STREQUAL "wsg50" AND ${RIGHT_HAND} STREQUAL "wsg50"))
if(NOT (${IS_DEFAULT_HAND_CASE} OR ${IS_DUAL_BH280_CASE} OR ${IS_DUAL_BH282_CASE} OR ${IS_DUAL_WSG50_CASE}))
set(HERB_URDF_OUTPUT "${ROBOTS_OUTPUT_DIR}/herb_${LEFT_HAND}_left_${RIGHT_HAND}_right.urdf")
set(HERB_SRDF_OUTPUT "${ROBOTS_OUTPUT_DIR}/herb_${LEFT_HAND}_left_${RIGHT_HAND}_right.srdf")
set(HERB_URDF_ARGS)
set(HERB_SRDF_ARGS)
append_hand_flags(left LEFT_HAND HERB_URDF_ARGS HERB_SRDF_ARGS)
append_hand_flags(right RIGHT_HAND HERB_URDF_ARGS HERB_SRDF_ARGS)
build_xacro(${HERB_URDF_XACRO} ${HERB_URDF_OUTPUT} "${HERB_URDF_ARGS}")
build_xacro(${HERB_SRDF_XACRO} ${HERB_SRDF_OUTPUT} "${HERB_SRDF_ARGS}")
list(APPEND EXTRA_DESCRIPTION_FILES
${HERB_URDF_OUTPUT}
${HERB_SRDF_OUTPUT})
endif()
endforeach(RIGHT_HAND)
endforeach(LEFT_HAND)
# add target to actually cause generation
add_custom_target(description_files ALL DEPENDS
${CORE_DESCRIPTION_FILES}
${EXTRA_DESCRIPTION_FILES})
else()
# add target to actually cause generation
add_custom_target(description_files ALL DEPENDS
${CORE_DESCRIPTION_FILES})
endif(BUILD_ALL_HERB_MODELS)
install(DIRECTORY DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}/robots")
install(FILES
${DESCRIPTION_FILES}
DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}/robots")
install(DIRECTORY meshes
DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}")