90 lines
2.9 KiB
CMake
90 lines
2.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(franka_semantic_components)
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# Default to C++17
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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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option(CHECK_TIDY "Adds clang-tidy tests" OFF)
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set(THIS_PACKAGE_INCLUDE_DEPENDS franka_hardware franka_msgs hardware_interface rclcpp_lifecycle)
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# find dependencies
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find_package(ament_cmake 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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find_package(Franka REQUIRED)
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add_library(franka_semantic_components SHARED src/franka_robot_state.cpp src/franka_robot_model.cpp)
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target_include_directories(franka_semantic_components PRIVATE include)
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target_link_libraries(franka_semantic_components Franka::Franka)
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ament_target_dependencies(franka_semantic_components
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Franka
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${THIS_PACKAGE_INCLUDE_DEPENDS})
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install(TARGETS franka_semantic_components DESTINATION lib)
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install(DIRECTORY include/ DESTINATION include)
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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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find_package(franka_msgs REQUIRED)
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find_package(ament_cmake_gmock REQUIRED)
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find_package(controller_interface REQUIRED)
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set(CPP_DIRECTORIES src include)
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ament_clang_format(CONFIG_FILE ../.clang-format ${CPP_DIRECTORIES})
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ament_copyright(${CPP_DIRECTORIES} package.xml)
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ament_cppcheck(${CPP_DIRECTORIES})
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ament_lint_cmake(CMakeLists.txt)
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ament_flake8()
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ament_pep257()
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ament_xmllint()
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if(CHECK_TIDY)
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find_package(ament_cmake_clang_tidy REQUIRED)
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set(ament_cmake_clang_tidy_CONFIG_FILE ../.clang-tidy)
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ament_clang_tidy(${CMAKE_BINARY_DIR})
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endif()
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ament_add_gmock(test_franka_robot_state test/franka_robot_state_test.cpp)
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target_include_directories(test_franka_robot_state PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
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target_link_libraries(test_franka_robot_state
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franka_semantic_components
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)
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ament_target_dependencies(test_franka_robot_state
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controller_interface
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hardware_interface
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franka_msgs
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Franka
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)
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ament_add_gmock(test_franka_robot_model test/franka_robot_model_test.cpp)
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target_include_directories(test_franka_robot_model PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
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target_link_libraries(test_franka_robot_model
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franka_semantic_components
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)
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ament_target_dependencies(test_franka_robot_model
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controller_interface
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hardware_interface
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franka_msgs
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Franka
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)
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endif()
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ament_export_include_directories(include)
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ament_export_libraries(franka_semantic_components)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()
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