139 lines
4.2 KiB
CMake
139 lines
4.2 KiB
CMake
cmake_minimum_required(VERSION 3.5)
|
|
project(franka_example_controllers)
|
|
|
|
# Default to C++17
|
|
if(NOT CMAKE_CXX_STANDARD)
|
|
set(CMAKE_CXX_STANDARD 17)
|
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
endif()
|
|
|
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
endif()
|
|
|
|
option(CHECK_TIDY "Adds clang-tidy tests" OFF)
|
|
|
|
# find dependencies
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(controller_interface REQUIRED)
|
|
find_package(pluginlib REQUIRED)
|
|
find_package(rclcpp_lifecycle REQUIRED)
|
|
find_package(hardware_interface REQUIRED)
|
|
find_package(franka_msgs REQUIRED)
|
|
find_package(Eigen3 REQUIRED)
|
|
find_package(franka_semantic_components)
|
|
find_package(generate_parameter_library)
|
|
|
|
add_library(
|
|
${PROJECT_NAME}
|
|
SHARED
|
|
src/gravity_compensation_example_controller.cpp
|
|
src/joint_impedance_example_controller.cpp
|
|
src/model_example_controller.cpp
|
|
src/move_to_start_example_controller.cpp
|
|
src/motion_generator.cpp)
|
|
target_include_directories(
|
|
${PROJECT_NAME}
|
|
PUBLIC
|
|
include
|
|
${EIGEN3_INCLUDE_DIRS}
|
|
)
|
|
ament_target_dependencies(
|
|
${PROJECT_NAME}
|
|
controller_interface
|
|
hardware_interface
|
|
pluginlib
|
|
rclcpp
|
|
rclcpp_lifecycle
|
|
franka_semantic_components
|
|
)
|
|
|
|
generate_parameter_library(franka_example_controllers_parameters src/model_example_controller_parameters.yaml)
|
|
|
|
target_link_libraries(${PROJECT_NAME} franka_example_controllers_parameters)
|
|
|
|
pluginlib_export_plugin_description_file(
|
|
controller_interface franka_example_controllers.xml)
|
|
|
|
install(
|
|
TARGETS
|
|
${PROJECT_NAME}
|
|
RUNTIME DESTINATION bin
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
)
|
|
|
|
install(
|
|
DIRECTORY include/
|
|
DESTINATION include
|
|
)
|
|
|
|
if(BUILD_TESTING)
|
|
find_package(ament_cmake_clang_format REQUIRED)
|
|
find_package(ament_cmake_copyright REQUIRED)
|
|
find_package(ament_cmake_cppcheck REQUIRED)
|
|
find_package(ament_cmake_flake8 REQUIRED)
|
|
find_package(ament_cmake_lint_cmake REQUIRED)
|
|
find_package(ament_cmake_pep257 REQUIRED)
|
|
find_package(ament_cmake_xmllint REQUIRED)
|
|
find_package(ament_cmake_gmock REQUIRED)
|
|
find_package(controller_manager REQUIRED)
|
|
find_package(ros2_control_test_assets REQUIRED)
|
|
|
|
set(CPP_DIRECTORIES src include)
|
|
ament_clang_format(CONFIG_FILE ../.clang-format ${CPP_DIRECTORIES})
|
|
ament_copyright(src ${CPP_DIRECTORIES} package.xml)
|
|
ament_cppcheck(${CPP_DIRECTORIES})
|
|
ament_lint_cmake(CMakeLists.txt)
|
|
ament_flake8()
|
|
ament_pep257()
|
|
ament_xmllint()
|
|
ament_add_gmock(${PROJECT_NAME}_test
|
|
test/test_load_gravity_compensation_controller.cpp
|
|
)
|
|
target_include_directories(${PROJECT_NAME}_test PRIVATE include)
|
|
ament_target_dependencies(${PROJECT_NAME}_test
|
|
controller_manager
|
|
ros2_control_test_assets
|
|
)
|
|
|
|
ament_add_gmock(${PROJECT_NAME}_test_load_move_to_start
|
|
test/test_load_move_to_start_example_controller.cpp)
|
|
target_include_directories(${PROJECT_NAME}_test_load_move_to_start PRIVATE include)
|
|
ament_target_dependencies(${PROJECT_NAME}_test_load_move_to_start
|
|
controller_manager
|
|
ros2_control_test_assets
|
|
)
|
|
|
|
|
|
ament_add_gmock(${PROJECT_NAME}_gravity_test test/test_gravity_compensation_example.cpp)
|
|
target_include_directories(${PROJECT_NAME}_gravity_test PRIVATE include)
|
|
target_link_libraries(${PROJECT_NAME}_gravity_test ${PROJECT_NAME})
|
|
|
|
ament_add_gmock(${PROJECT_NAME}_move_to_start_test test/test_move_to_start_example_controller.cpp)
|
|
target_include_directories(${PROJECT_NAME}_move_to_start_test PRIVATE include)
|
|
target_link_libraries(${PROJECT_NAME}_move_to_start_test ${PROJECT_NAME})
|
|
|
|
if(CHECK_TIDY)
|
|
find_package(ament_cmake_clang_tidy REQUIRED)
|
|
set(ament_cmake_clang_tidy_CONFIG_FILE ../.clang-tidy)
|
|
ament_clang_tidy(${CMAKE_BINARY_DIR})
|
|
endif()
|
|
endif()
|
|
|
|
ament_export_include_directories(
|
|
include
|
|
)
|
|
ament_export_libraries(
|
|
${PROJECT_NAME}
|
|
)
|
|
ament_export_dependencies(
|
|
controller_interface
|
|
pluginlib
|
|
rclcpp
|
|
rclcpp_lifecycle
|
|
hardware_interface
|
|
)
|
|
ament_package()
|