qlin/sas_robot_driver_franka
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minor uptimizeation

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This commit is contained in:
qlin1806
2024-07-20 16:06:49 -07:00
parent e263d34c0c
commit 79479ce982
7 changed files with 70 additions and 16 deletions
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8
CMakeLists.txt
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@@ -19,6 +19,8 @@ find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
tf2_ros
tf2
sas_common
sas_clock
sas_robot_driver
@@ -27,7 +29,7 @@ find_package(catkin REQUIRED COMPONENTS
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver
CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver tf2_ros tf2
)
find_package(Franka REQUIRED)
@@ -101,7 +103,9 @@ include_directories(
add_library(sas_robot_dynamic_provider src/dynamic_interface/sas_robot_dynamic_provider.cpp)
target_link_libraries(sas_robot_dynamic_provider dqrobotics)
target_link_libraries(sas_robot_dynamic_provider
${catkin_LIBRARIES}
dqrobotics)
add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)