qlin/sas_robot_driver_franka
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migration to ros2 done

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qlin960618
2024-07-27 13:07:37 +09:00
parent f5552be8d6
commit 7dfd4d40b8
94 changed files with 13216 additions and 2224 deletions
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338
CMakeLists.txt
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@@ -7,14 +7,6 @@ project(sas_robot_driver_franka)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(POLICY CMP0148)
cmake_policy(SET CMP0148 NEW)
endif()
#Add custom (non compiling) targets so launch scripts and python files show up in QT Creator's project view.
file(GLOB_RECURSE EXTRA_FILES */*)
#add_custom_target(${PROJECT_NAME}_OTHER_FILES ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
add_custom_target(cfg ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
find_package(pybind11 REQUIRED)
@@ -29,92 +21,10 @@ find_package(Eigen3 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(sas_robot_driver REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/GripperState.msg"
"srv/Move.srv"
"srv/Grasp.srv"
DEPENDENCIES std_msgs
)
ament_target_dependencies(${PROJECT_NAME}
rclcpp geometry_msgs std_msgs sas_common sas_core sas_conversions
tf2_ros tf2 sas_robot_driver)
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(Eigen3 rclcpp geometry_msgs std_msgs sas_common sas_core sas_conversions
tf2_ros tf2 sas_robot_driver)
add_library(qros_robot_dynamics_provider src/robot_dynamics/qros_robot_dynamics_provider.cpp)
target_link_libraries(qros_robot_dynamics_provider
-ldqrobotics
Eigen3::Eigen
)
#####################################################################################
ament_python_install_package(${PROJECT_NAME})
# python binding
include_directories(
include/robot_dynamic
)
pybind_add_module(_qros_robot_dynamic SHARED
src/robot_dynamics/qros_robot_dynamic_py.cpp src/robot_dynamics/qros_robot_dynamics_interface.cpp src/robot_dynamics/qros_robot_dynamics_provider.cpp
)
target_compile_definitions(_qros_robot_dynamic PRIVATE BUILD_PYBIND)
# https://github.com/pybind/pybind11/issues/387
target_link_libraries(_qros_robot_dynamic PRIVATE ${catkin_LIBRARIES} -ldqrobotics)
#/////
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver tf2_ros tf2 pybind11_catkin message_runtime std_msgs
)
find_package(Franka REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(yaml-cpp REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
find_package(sas_robot_driver_franka_interfaces REQUIRED) # Add this line
# To correctly find and link with QT
## To correctly find and link with QT
set(CMAKE_PREFIX_PATH $ENV{QT_PATH})
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
@@ -124,15 +34,76 @@ if (CMAKE_VERSION VERSION_LESS "3.7.0")
endif ()
find_package(Qt5 COMPONENTS Widgets REQUIRED)
find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
##### CPP LIBRARY initial #####
include_directories(
include
constraints_manager/include
)
install(
DIRECTORY include/
DESTINATION include
)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(Eigen3 rclcpp geometry_msgs std_msgs
sas_common sas_core sas_conversions sas_robot_driver_franka_interfaces
tf2_ros tf2 sas_robot_driver)
##### CPP LIBRARY initial end #####
##### CPP LIBRARY ROBOT_DYNAMICS #####
add_library(${PROJECT_NAME}_robot_dynamics SHARED
src/robot_dynamics/qros_robot_dynamics_client.cpp
src/robot_dynamics/qros_robot_dynamics_server.cpp
)
ament_target_dependencies(${PROJECT_NAME}_robot_dynamics
rclcpp geometry_msgs std_msgs
sas_common sas_core sas_conversions
tf2_ros tf2 sas_robot_driver)
target_include_directories(${PROJECT_NAME}_robot_dynamics
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(${PROJECT_NAME}_robot_dynamics
-ldqrobotics
Eigen3::Eigen
)
install(
TARGETS ${PROJECT_NAME}_robot_dynamics # ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME} #export_${PROJECT_NAME}
LIBRARY DESTINATION lib
#ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include
)
##END## CPP LIBRARY ROBOT_DYNAMICS #####
##### CPP LIBRARY Motion Generation #####
add_library(MotionGenerator src/generator/motion_generator.cpp)
target_link_libraries(MotionGenerator Franka::Franka)
target_link_libraries(MotionGenerator Franka::Franka Eigen3::Eigen)
add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
target_link_libraries(ConstraintsManager Eigen3::Eigen)
install(
DIRECTORY constraints_manager/include/
DESTINATION include/constraints_manager
)
target_include_directories(ConstraintsManager
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/constraints_manager/include>
$<INSTALL_INTERFACE:include/constraints_manager>)
add_library(QuadraticProgramMotionGenerator src/generator/quadratic_program_motion_generator.cpp)
target_link_libraries(QuadraticProgramMotionGenerator
@@ -140,12 +111,18 @@ target_link_libraries(QuadraticProgramMotionGenerator
dqrobotics
ConstraintsManager)
add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp)
target_link_libraries(CustomMotionGeneration
qpOASES
dqrobotics
ConstraintsManager)
##### CPP LIBRARY Motion Generation end #####
##### CPP LIBRARY franka low level interface #####
add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
target_link_libraries(robot_interface_franka Franka::Franka
dqrobotics
@@ -159,133 +136,114 @@ target_link_libraries(robot_interface_hand Franka::Franka
dqrobotics)
############
## Build ###
############
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
include/generator
src/
src/robot_dynamics
src/hand
src/joint
${catkin_INCLUDE_DIRS}
constraints_manager/include
)
add_library(qros_robot_dynamics_provider src/robot_dynamics/qros_robot_dynamics_provider.cpp)
target_link_libraries(qros_robot_dynamics_provider
${catkin_LIBRARIES}
dqrobotics)
add_library(qros_robot_dynamics_interface src/robot_dynamics/qros_robot_dynamics_interface.cpp)
target_link_libraries(qros_robot_dynamics_interface
${catkin_LIBRARIES}
dqrobotics)
##### CPP LIBRARY franka low level interface end #####
##### SAS Franka Robot Driver #####
add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
target_link_libraries(sas_robot_driver_franka
qros_robot_dynamics_provider
${PROJECT_NAME}_robot_dynamics
dqrobotics
dqrobotics-interface-json11
robot_interface_franka)
##### SAS Franka Robot Driver end #####
##### qros hand effector driver #####
add_library(qros_effector_driver_franka_hand src/hand/qros_effector_driver_franka_hand.cpp)
ament_target_dependencies(qros_effector_driver_franka_hand
rclcpp sas_common sas_core
sas_robot_driver_franka_interfaces
)
#ament_target_dependencies(${PROJECT_NAME}_robot_dynamics
# rclcpp geometry_msgs std_msgs
# sas_common sas_core sas_conversions
# tf2_ros tf2 sas_robot_driver)
target_link_libraries(qros_effector_driver_franka_hand
dqrobotics
# robot_interface_hand
Franka::Franka)
#target_include_directories(qros_effector_driver_franka_hand
# PUBLIC
# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/interface>
# $<INSTALL_INTERFACE:include/interface>)
add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
target_link_libraries(sas_robot_driver_coppelia
dqrobotics
dqrobotics-interface-vrep)
add_dependencies(sas_robot_driver_franka ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(sas_robot_driver_coppelia ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(qros_effector_driver_franka_hand ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
##### qros hand effector driver end #####
add_executable(sas_robot_driver_coppelia_node src/sas_robot_driver_coppelia_node.cpp)
target_link_libraries(sas_robot_driver_coppelia_node
sas_robot_driver_coppelia
${catkin_LIBRARIES})
##### SAS Franka Robot Driver Node #####
add_executable(sas_robot_driver_franka_node src/sas_robot_driver_franka_node.cpp)
target_link_libraries(sas_robot_driver_franka_node
sas_robot_driver_franka
${catkin_LIBRARIES})
ament_target_dependencies(sas_robot_driver_franka_node
rclcpp sas_common sas_core
sas_robot_driver)
target_link_libraries(sas_robot_driver_franka_node sas_robot_driver_franka)
install(TARGETS
sas_robot_driver_franka_node
DESTINATION lib/${PROJECT_NAME})
##### SAS Franka Robot Hand Driver Node #####
add_executable(sas_robot_driver_franka_hand_node src/sas_robot_driver_franka_hand_node.cpp)
ament_target_dependencies(sas_robot_driver_franka_node
rclcpp sas_common sas_core)
target_link_libraries(sas_robot_driver_franka_hand_node
qros_effector_driver_franka_hand
${catkin_LIBRARIES})
qros_effector_driver_franka_hand)
install(TARGETS
sas_robot_driver_franka_hand_node
DESTINATION lib/${PROJECT_NAME})
add_executable(JuankaEmika
qt/configuration_window/main.cpp
qt/configuration_window/mainwindow.cpp
qt/configuration_window/mainwindow.ui
##### PYBIND11 LIBRARY ROBOT_DYNAMICS #####
ament_python_install_package(${PROJECT_NAME})
pybind11_add_module(_robot_dynamics SHARED
src/robot_dynamics/qros_robot_dynamics_py.cpp
src/robot_dynamics/qros_robot_dynamics_client.cpp
src/robot_dynamics/qros_robot_dynamics_server.cpp
)
target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
dqrobotics
${catkin_LIBRARIES}
robot_interface_franka
)
target_include_directories(_robot_dynamics
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/robot_dynamics>
$<INSTALL_INTERFACE:include/robot_dynamics>)
#####################################################################################
# python binding
include_directories(
include/robot_dynamic
)
pybind_add_module(_qros_robot_dynamic SHARED
src/robot_dynamics/qros_robot_dynamic_py.cpp src/robot_dynamics/qros_robot_dynamics_interface.cpp src/robot_dynamics/qros_robot_dynamics_provider.cpp
)
target_compile_definitions(_qros_robot_dynamic PRIVATE BUILD_PYBIND)
target_compile_definitions(_robot_dynamics PRIVATE IS_SAS_PYTHON_BUILD)
# https://github.com/pybind/pybind11/issues/387
target_link_libraries(_qros_robot_dynamic PRIVATE ${catkin_LIBRARIES} -ldqrobotics)
target_link_libraries(_robot_dynamics PRIVATE ${PROJECT_NAME}_robot_dynamics -ldqrobotics)
if (QT_VERSION_MAJOR EQUAL 6)
qt_finalize_executable(JuankaEmika)
endif ()
install(TARGETS ${PROJECT_NAME}
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
install(TARGETS _robot_dynamics
DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
)
##END## PYBIND11 LIBRARY ROBOT_DYNAMICS #####
install(TARGETS sas_robot_driver_franka_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS sas_robot_driver_coppelia_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS sas_robot_driver_franka_hand_node
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
install(
DIRECTORY include/
DESTINATION include
)
install(TARGETS _qros_robot_dynamic
LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
##### LAUNCH FILES #####
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}/
)
##END## LAUNCH FILES #####
ament_package()