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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(project_ariac)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
osrf_gear
roscpp
sensor_msgs
std_srvs
std_msgs
control_msgs
geometry_msgs
tf2
moveit_ros_planning_interface
message_generation
actionlib
)
add_service_files(
FILES
getSpeed.srv
)
generate_messages(
DEPENDENCIES
std_msgs #geometry_msgs# move_base_msgs# sensor_msgs#
)
catkin_package()
# INCLUDE_DIRS include
# CATKIN_DEPENDS osrf_gear control_msgs geometry_msgs
# )
###########
## Build ##
###########
include_directories(include ${catkin_INCLUDE_DIRS})
## Declare a C++ executable
add_executable(project_ariac_node src/project_ariac_node.cpp src/UR10_Control.cpp src/Manager.cpp src/Interface.cpp)
add_dependencies(project_ariac_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_generate_messages_cpp})
target_link_libraries(project_ariac_node ${catkin_LIBRARIES})
add_executable(node src/Node.cpp src/Interface.cpp src/Conveyor.cpp)
add_dependencies(node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_generate_messages_cpp})
target_link_libraries(node ${catkin_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
install(PROGRAMS script/ariac_example_node.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables and/or libraries for installation
install(TARGETS project_ariac_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
config/sample_gear_conf.yaml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ariac_example.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)