77 lines
2.2 KiB
CMake
77 lines
2.2 KiB
CMake
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cmake_minimum_required(VERSION 3.5)
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project(franka_gripper)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(franka_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(control_msgs REQUIRED)
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find_package(Franka REQUIRED)
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add_library(gripper_server SHARED
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src/gripper_action_server.cpp)
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target_link_libraries(gripper_server Franka::Franka)
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target_include_directories(gripper_server PRIVATE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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ament_target_dependencies(gripper_server
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franka_msgs
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rclcpp
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rclcpp_action
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rclcpp_components
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Franka
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sensor_msgs
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std_srvs
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control_msgs)
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rclcpp_components_register_node(gripper_server PLUGIN "franka_gripper::GripperActionServer" EXECUTABLE franka_gripper_node)
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install(TARGETS
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gripper_server
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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install(DIRECTORY
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launch config
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DESTINATION share/${PROJECT_NAME}/)
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ament_python_install_package(${PROJECT_NAME})
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install(PROGRAMS
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scripts/fake_gripper_state_publisher.py
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DESTINATION lib/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_cmake_clang_format REQUIRED)
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find_package(ament_cmake_copyright REQUIRED)
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find_package(ament_cmake_cppcheck REQUIRED)
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find_package(ament_cmake_flake8 REQUIRED)
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find_package(ament_cmake_lint_cmake REQUIRED)
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find_package(ament_cmake_pep257 REQUIRED)
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find_package(ament_cmake_xmllint REQUIRED)
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set(CPP_DIRECTORIES src include)
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ament_clang_format(CONFIG_FILE ../.clang-format ${CPP_DIRECTORIES})
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ament_copyright(launch ${CPP_DIRECTORIES} package.xml)
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ament_cppcheck(${CPP_DIRECTORIES})
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ament_lint_cmake(CMakeLists.txt)
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ament_flake8()
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ament_pep257()
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ament_xmllint()
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endif()
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ament_package()
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