93 lines
2.2 KiB
CMake
93 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(franka_hardware)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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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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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(franka_msgs REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(Franka REQUIRED)
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add_library(franka_hardware
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SHARED
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src/franka_hardware_interface.cpp
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src/robot.cpp)
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target_include_directories(
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franka_hardware
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PRIVATE
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include
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)
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ament_target_dependencies(
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franka_hardware
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hardware_interface
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Franka
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pluginlib
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rclcpp
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franka_msgs
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)
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pluginlib_export_plugin_description_file(hardware_interface franka_hardware.xml)
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install(
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TARGETS franka_hardware
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DESTINATION lib
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)
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install(
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DIRECTORY include/
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DESTINATION include
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)
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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 ${CPP_DIRECTORIES})
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ament_copyright(${CPP_DIRECTORIES} package.xml)
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ament_cppcheck(${CPP_DIRECTORIES})
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ament_lint_cmake(CMakeLists.txt)
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ament_flake8()
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ament_pep257()
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ament_xmllint()
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add_subdirectory(test)
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if(CHECK_TIDY)
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find_package(ament_cmake_clang_tidy REQUIRED)
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set(ament_cmake_clang_tidy_CONFIG_FILE ../.clang-tidy)
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ament_clang_tidy(${CMAKE_BINARY_DIR})
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endif()
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endif()
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ament_export_include_directories(
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include
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)
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ament_export_libraries(
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franka_hardware
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)
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ament_export_dependencies(
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hardware_interface
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pluginlib
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rclcpp
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)
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ament_package()
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