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Clean CMakeLists.txt and package.xml files of gripper_action_controller package #528

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merged 1 commit into from
Oct 15, 2020
Merged

Clean CMakeLists.txt and package.xml files of gripper_action_controller package #528

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45 changes: 24 additions & 21 deletions gripper_action_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,58 +9,61 @@ endif()
find_package(catkin
REQUIRED COMPONENTS
actionlib
angles
cmake_modules
controller_interface
controller_manager
control_msgs
control_toolbox
controller_interface
hardware_interface
pluginlib
realtime_tools
roscpp
trajectory_msgs
urdf
xacro
pluginlib
)

catkin_package(
INCLUDE_DIRS include
LIBRARIES gripper_action_controller
CATKIN_DEPENDS
actionlib
cmake_modules
controller_interface
control_msgs
control_toolbox
controller_interface
hardware_interface
realtime_tools
trajectory_msgs
roscpp
urdf
)

include_directories(
include ${catkin_INCLUDE_DIRS}
)

###########
## Build ##
###########

# Specify header include paths
include_directories(include ${catkin_INCLUDE_DIRS})

add_library(gripper_action_controller
src/gripper_action_controller.cpp
include/gripper_action_controller/gripper_action_controller.h
)
target_link_libraries(gripper_action_controller ${catkin_LIBRARIES})

target_link_libraries(gripper_action_controller
${catkin_LIBRARIES}

#############
## Install ##
#############

# Install headers
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

# Install library
# Install targets
install(TARGETS gripper_action_controller
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)

install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

# Install plugins
install(FILES ros_control_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
3 changes: 0 additions & 3 deletions gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h
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Expand Up @@ -39,9 +39,6 @@
// ROS
#include <ros/node_handle.h>

// URDF
#include <urdf/model.h>

// ROS messages
#include <control_msgs/GripperCommandAction.h>

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2 changes: 2 additions & 0 deletions gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h
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Expand Up @@ -29,6 +29,8 @@

#pragma once

// URDF
#include <urdf/model.h>

namespace gripper_action_controller
{
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27 changes: 15 additions & 12 deletions gripper_action_controller/package.xml
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@@ -1,32 +1,35 @@
<?xml version="1.0"?>
<package format="2">
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>gripper_action_controller</name>
<version>0.17.0</version>
<description>The gripper_action_controller package</description>

<license>BSD</license>

<maintainer email="robot.moveit@gmail.com">Sachin Chitta</maintainer>
<maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
<maintainer email="enrique.fernandez.perdomo@gmail.com">Enrique Fernandez</maintainer>

<license>BSD</license>

<author email="robot.moveit@gmail.com">Sachin Chitta</author>

<buildtool_depend>catkin</buildtool_depend>

<depend>actionlib</depend>
<depend>angles</depend>
<depend>cmake_modules</depend>
<depend>control_msgs</depend>
<depend>control_toolbox</depend>
<depend>controller_interface</depend>
<depend>controller_manager</depend>
<depend>hardware_interface</depend>
<depend>control_toolbox</depend>
<depend>realtime_tools</depend>
<depend>roscpp</depend>
<depend>trajectory_msgs</depend>
<depend>urdf</depend>
<depend>xacro</depend>
<depend>pluginlib</depend>

<build_depend>control_msgs</build_depend>
<build_depend>hardware_interface</build_depend>
<build_depend>pluginlib</build_depend>

<build_export_depend>control_msgs</build_export_depend>
<build_export_depend>hardware_interface</build_export_depend>

<export>
<controller_interface plugin="${prefix}/ros_control_plugins.xml"/>
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