123 lines
3.7 KiB
CMake
123 lines
3.7 KiB
CMake
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cmake_minimum_required(VERSION 3.5)
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project(joint_trajectory_controller)
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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)
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endif()
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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angles
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control_msgs
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control_toolbox
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controller_interface
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generate_parameter_library
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hardware_interface
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pluginlib
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rclcpp
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rclcpp_lifecycle
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realtime_tools
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rsl
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tl_expected
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trajectory_msgs
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)
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find_package(ament_cmake REQUIRED)
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find_package(backward_ros REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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generate_parameter_library(joint_trajectory_controller_parameters
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src/joint_trajectory_controller_parameters.yaml
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include/joint_trajectory_controller/validate_jtc_parameters.hpp
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)
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add_library(joint_trajectory_controller SHARED
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src/joint_trajectory_controller.cpp
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src/trajectory.cpp
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)
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target_compile_features(joint_trajectory_controller PUBLIC cxx_std_17)
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target_include_directories(joint_trajectory_controller PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/joint_trajectory_controller>
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)
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target_link_libraries(joint_trajectory_controller PUBLIC
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joint_trajectory_controller_parameters
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)
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ament_target_dependencies(joint_trajectory_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(joint_trajectory_controller PRIVATE "JOINT_TRAJECTORY_CONTROLLER_BUILDING_DLL" "_USE_MATH_DEFINES")
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pluginlib_export_plugin_description_file(controller_interface joint_trajectory_plugin.xml)
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if(BUILD_TESTING)
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find_package(ament_cmake_gmock REQUIRED)
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find_package(controller_manager REQUIRED)
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find_package(ros2_control_test_assets REQUIRED)
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ament_add_gmock(test_trajectory test/test_trajectory.cpp)
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target_include_directories(test_trajectory PRIVATE include)
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target_link_libraries(test_trajectory ${PROJECT_NAME})
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ament_add_gmock(test_trajectory_controller
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test/test_trajectory_controller.cpp
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ENV config_file=${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_joint_trajectory_controller.yaml)
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set_tests_properties(test_trajectory_controller PROPERTIES TIMEOUT 220)
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target_include_directories(test_trajectory_controller PRIVATE include)
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target_link_libraries(test_trajectory_controller
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${PROJECT_NAME}
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)
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ament_target_dependencies(test_trajectory_controller
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${THIS_PACKAGE_INCLUDE_DEPENDS}
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)
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ament_add_gmock(
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test_load_joint_trajectory_controller
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test/test_load_joint_trajectory_controller.cpp
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)
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target_include_directories(test_load_joint_trajectory_controller PRIVATE include)
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ament_target_dependencies(test_load_joint_trajectory_controller
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controller_manager
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control_toolbox
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realtime_tools
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ros2_control_test_assets
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)
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# TODO(andyz): Disabled due to flakiness
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# ament_add_gmock(
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# test_trajectory_actions
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# test/test_trajectory_actions.cpp
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# )
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# target_include_directories(test_trajectory_actions PRIVATE include)
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# target_link_libraries(test_trajectory_actions
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# ${PROJECT_NAME}
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# )
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# ament_target_dependencies(test_trajectory_actions
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# ${THIS_PACKAGE_INCLUDE_DEPENDS}
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# )
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endif()
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install(
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DIRECTORY include/
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DESTINATION include/joint_trajectory_controller
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)
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install(TARGETS
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joint_trajectory_controller
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joint_trajectory_controller_parameters
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EXPORT export_joint_trajectory_controller
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RUNTIME DESTINATION bin
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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)
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ament_export_targets(export_joint_trajectory_controller HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()
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