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Copy pathCMakeLists.txt
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166 lines (144 loc) · 4.71 KB
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cmake_minimum_required(VERSION 3.8)
project(cartelo)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(generate_parameter_library REQUIRED)
find_package(controller_manager_msgs REQUIRED)
find_package(control_msgs REQUIRED)
generate_parameter_library(
pose_teleoperation_parameters
"config/pose_teleoperation.yaml"
)
generate_parameter_library(
gripper_teleoperation_parameters
"config/gripper_teleoperation.yaml"
)
generate_parameter_library(
twist_teleoperation_parameters
"config/twist_teleoperation.yaml"
)
generate_parameter_library(
cartesian_bounds_parameters
"config/cartesian_bounds.yaml"
)
add_library(pose_teleoperation_component SHARED
src/pose_teleoperation.cpp
src/joystick_handler.cpp
src/homing_handler.cpp
)
target_include_directories(pose_teleoperation_component PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_compile_features(pose_teleoperation_component PUBLIC c_std_99 cxx_std_17)
target_link_libraries(pose_teleoperation_component
pose_teleoperation_parameters
)
add_library(twist_teleoperation_component SHARED
src/twist_teleoperation.cpp
src/joystick_handler.cpp
src/homing_handler.cpp
)
target_include_directories(twist_teleoperation_component PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_compile_features(twist_teleoperation_component PUBLIC c_std_99 cxx_std_17)
target_link_libraries(twist_teleoperation_component
twist_teleoperation_parameters
)
add_library(cartesian_bounds_component SHARED
src/cartesian_bounds.cpp
)
target_include_directories(cartesian_bounds_component PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_compile_features(cartesian_bounds_component PUBLIC c_std_99 cxx_std_17)
target_link_libraries(cartesian_bounds_component
cartesian_bounds_parameters
)
add_library(gripper_teleoperation_component SHARED
src/gripper_teleoperation.cpp
src/joystick_handler.cpp
)
target_include_directories(gripper_teleoperation_component PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_compile_features(gripper_teleoperation_component PUBLIC c_std_99 cxx_std_17)
target_link_libraries(gripper_teleoperation_component
gripper_teleoperation_parameters
)
ament_target_dependencies(pose_teleoperation_component
rclcpp
rclcpp_components
geometry_msgs
sensor_msgs
tf2_ros
tf2_geometry_msgs
controller_manager_msgs
control_msgs
)
rclcpp_components_register_node(pose_teleoperation_component PLUGIN "cartelo::PoseTeleoperation" EXECUTABLE pose_teleoperation_node)
ament_target_dependencies(twist_teleoperation_component
rclcpp
rclcpp_components
geometry_msgs
sensor_msgs
tf2_ros
tf2_geometry_msgs
controller_manager_msgs
control_msgs
)
rclcpp_components_register_node(twist_teleoperation_component PLUGIN "cartelo::TwistTeleoperation" EXECUTABLE twist_teleoperation_node)
ament_target_dependencies(cartesian_bounds_component
rclcpp
rclcpp_components
geometry_msgs
)
rclcpp_components_register_node(cartesian_bounds_component PLUGIN "cartelo::CartesianBounds" EXECUTABLE cartesian_bounds_node)
ament_target_dependencies(gripper_teleoperation_component
rclcpp
rclcpp_components
sensor_msgs
std_msgs
control_msgs
rclcpp_action
)
rclcpp_components_register_node(gripper_teleoperation_component PLUGIN "cartelo::GripperTeleoperation" EXECUTABLE gripper_teleoperation_node)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(TARGETS pose_teleoperation_component twist_teleoperation_component gripper_teleoperation_component cartesian_bounds_component
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/
DESTINATION include
)
# Install launch files.
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}/
)
ament_package()