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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(polishingrobot_planner)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
interactive_markers
moveit_core
moveit_visual_tools
moveit_ros_planning
moveit_ros_planning_interface
moveit_ros_perception
pluginlib
geometric_shapes
pcl_ros
pcl_conversions
rosbag
tf2_ros
tf2_eigen
tf2_geometry_msgs
octomap_msgs
rospy
std_msgs
rostime
sensor_msgs
message_filters
)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED system filesystem date_time thread)
find_package(OCTOMAP REQUIRED)
find_package(OpenCV REQUIRED)
find_package(OpenMP)
find_package(PCL REQUIRED)
catkin_package(
LIBRARIES
INCLUDE_DIRS
CATKIN_DEPENDS
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
interactive_markers
tf2_geometry_msgs
DEPENDS
EIGEN3
octomap_msgs
)
include_directories(
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIR}
${EIGEN3_INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/include
)
# the useful algorithm is shown as follows
add_executable(collision_detection src/moveit_collision_detection.cpp)
target_link_libraries(collision_detection ${catkin_LIBRARIES})
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
add_executable(manipulator_viewpoints_planning1 src/manipulator_viewpoints_planning1.cpp src/aubo_kinematics.cpp)
target_link_libraries(manipulator_viewpoints_planning1 ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARIES} ${Boost_INCLUDE_DIR} jsoncpp)
add_executable(manipulator_viewpoints_visualizing src/manipulator_viewpoints_visualizing.cpp)
target_link_libraries(manipulator_viewpoints_visualizing ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARIES} ${Boost_INCLUDE_DIR} jsoncpp)
add_executable(manipulator_viewpoints_trajectory_planning src/manipulator_viewpoints_trajectory_planning.cpp)
target_link_libraries(manipulator_viewpoints_trajectory_planning ${catkin_LIBRARIES} ${Boost_LIBRARIES} jsoncpp)
add_executable(framework3d_visualizing src/framework3d_visualizing.cpp)
target_link_libraries(framework3d_visualizing ${catkin_LIBRARIES} )
# the below cpp document is for test coverage state visualization method in RVIZ
add_executable(octomap_occupancymapgrid_test src/coveragestate_visualization/octomap_occupancymapgrid_test.cpp)
target_link_libraries(octomap_occupancymapgrid_test ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARIES} ${Boost_INCLUDE_DIR} jsoncpp)
add_executable(nav_gridcells_test src/coveragestate_visualization/nav_gridcells_test.cpp)
add_dependencies(nav_gridcells_test ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(nav_gridcells_test ${catkin_LIBRARIES} )
add_executable(nav_occupancygrid_test src/coveragestate_visualization/nav_occupancygrid_test.cpp)
add_dependencies(nav_occupancygrid_test ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(nav_occupancygrid_test ${catkin_LIBRARIES} )
# the below moveit motion planning algorithm is not useful:
add_executable(manipulator_viewpoints_trajectory_planning1 src/useless/manipulator_viewpoints_trajectory_planning1.cpp)
target_link_libraries(manipulator_viewpoints_trajectory_planning1 ${catkin_LIBRARIES} ${Boost_LIBRARIES} jsoncpp)
add_executable(motion_planning_aubo src/useless/motion_planning_aubo.cpp)
target_link_libraries(motion_planning_aubo ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_executable(manipulator_viewpoints_planning src/useless/manipulator_viewpoints_planning.cpp src/aubo_kinematics.cpp)
target_link_libraries(manipulator_viewpoints_planning ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARIES} ${Boost_INCLUDE_DIR} jsoncpp)
add_executable(polishingrobot_states_pub src/useless/polishingrobot_states_pub.cpp)
target_link_libraries(polishingrobot_states_pub ${catkin_LIBRARIES} )
add_executable(polishingrobot_states_sub src/useless/polishingrobot_states_sub.cpp)
target_link_libraries(polishingrobot_states_sub ${catkin_LIBRARIES} )
add_executable(polishingrobot_states_pubsub src/useless/polishingrobot_states_pubsub.cpp)
target_link_libraries(polishingrobot_states_pubsub ${catkin_LIBRARIES} )
add_executable(polishingrobot_statespub_collisiondetection src/useless/polishingrobot_statespub_collisiondetection.cpp)
target_link_libraries(polishingrobot_statespub_collisiondetection ${catkin_LIBRARIES} )
add_executable(move_group_aubo_tutorial src/useless/move_group_aubo_tutorial.cpp)
target_link_libraries(move_group_aubo_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})