forked from ros-controls/ros2_controllers
/
CMakeLists.txt
107 lines (93 loc) · 3.01 KB
/
CMakeLists.txt
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cmake_minimum_required(VERSION 3.16)
project(admittance_controller LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
angles
control_msgs
control_toolbox
controller_interface
Eigen3
generate_parameter_library
geometry_msgs
hardware_interface
joint_trajectory_controller
kinematics_interface
pluginlib
rclcpp
rclcpp_lifecycle
realtime_tools
tf2
tf2_eigen
tf2_geometry_msgs
tf2_kdl
tf2_ros
trajectory_msgs
)
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(admittance_controller_parameters
src/admittance_controller_parameters.yaml
)
add_library(admittance_controller SHARED
src/admittance_controller.cpp
)
target_compile_features(admittance_controller PUBLIC cxx_std_17)
target_include_directories(admittance_controller PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/admittance_controller>
)
target_link_libraries(admittance_controller PUBLIC
admittance_controller_parameters
)
ament_target_dependencies(admittance_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(admittance_controller PRIVATE "ADMITTANCE_CONTROLLER_BUILDING_DLL")
pluginlib_export_plugin_description_file(controller_interface admittance_controller.xml)
if(BUILD_TESTING)
find_package(ament_cmake_gmock REQUIRED)
find_package(controller_manager REQUIRED)
find_package(ros2_control_test_assets REQUIRED)
# Dynamically loaded during test
find_package(kinematics_interface_kdl REQUIRED)
# test loading admittance controller
add_rostest_with_parameters_gmock(test_load_admittance_controller
test/test_load_admittance_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml
)
ament_target_dependencies(test_load_admittance_controller
controller_manager
hardware_interface
ros2_control_test_assets
)
# test admittance controller function
add_rostest_with_parameters_gmock(test_admittance_controller
test/test_admittance_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml
)
target_link_libraries(test_admittance_controller admittance_controller)
ament_target_dependencies(test_admittance_controller
control_msgs
controller_interface
hardware_interface
ros2_control_test_assets
)
endif()
install(
DIRECTORY include/
DESTINATION include/admittance_controller
)
install(TARGETS admittance_controller admittance_controller_parameters
EXPORT export_admittance_controller
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)
ament_export_targets(export_admittance_controller HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()