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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.16)
project(ros2_control_demo_example_12 LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
add_compile_options(-Wall -Wextra)
endif()
# set the same behavior for windows as it is on linux
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
# find dependencies
set(THIS_PACKAGE_INCLUDE_DEPENDS
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
control_msgs
generate_parameter_library
controller_interface
parameter_traits
realtime_tools
std_msgs
)
# Specify the required version of ros2_control
find_package(controller_manager 4.0.0)
# Handle the case where the required version is not found
if(NOT controller_manager_FOUND)
message(FATAL_ERROR "ros2_control version 4.0.0 or higher is required. "
"Are you using the correct branch of the ros2_control_demos repository?")
endif()
# find dependencies
find_package(backward_ros REQUIRED)
find_package(ament_cmake REQUIRED)
foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()
## COMPILE
add_library(
ros2_control_demo_example_12
SHARED
hardware/rrbot.cpp
)
target_compile_features(ros2_control_demo_example_12 PUBLIC cxx_std_17)
target_include_directories(ros2_control_demo_example_12 PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
$<INSTALL_INTERFACE:include/ros2_control_demo_example_12>
)
ament_target_dependencies(
ros2_control_demo_example_12 PUBLIC
${THIS_PACKAGE_INCLUDE_DEPENDS}
)
# Export hardware plugins
pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_12.xml)
# Add library of the controller and export it
generate_parameter_library(passthrough_controller_parameters
controllers/src/passthrough_controller_parameters.yaml
)
add_library(passthrough_controller SHARED
controllers/src/passthrough_controller.cpp
)
target_include_directories(passthrough_controller PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controllers/include>
$<INSTALL_INTERFACE:include/passthrough_controller>
)
target_link_libraries(passthrough_controller PUBLIC passthrough_controller_parameters)
ament_target_dependencies(passthrough_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
pluginlib_export_plugin_description_file(controller_interface passthrough_controller.xml)
# INSTALL
install(
DIRECTORY hardware/include/
DESTINATION include/ros2_control_demo_example_12
)
install(
DIRECTORY description/launch description/ros2_control description/urdf
DESTINATION share/ros2_control_demo_example_12
)
install(
DIRECTORY bringup/launch bringup/config
DESTINATION share/ros2_control_demo_example_12
)
install(TARGETS ros2_control_demo_example_12
EXPORT export_ros2_control_demo_example_12
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(
DIRECTORY controllers/include/
DESTINATION include/passthrough_controller
)
install(TARGETS
passthrough_controller
passthrough_controller_parameters
EXPORT export_passthrough_controller
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)
if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)
ament_add_pytest_test(example_12_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_12_launch test/test_view_robot_launch.py)
ament_add_pytest_test(run_example_12_launch test/test_rrbot_launch.py)
endif()
## EXPORTS
ament_export_targets(export_passthrough_controller HAS_LIBRARY_TARGET)
ament_export_targets(export_ros2_control_demo_example_12 HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()