qlin/sas_robot_driver_franka
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minor general bug fix

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qlin960618
2024-08-18 20:57:24 +09:00
parent 900f6aa2e1
commit 9b2061ba01
6 changed files with 10 additions and 249 deletions
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10
CMakeLists.txt
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@@ -244,22 +244,22 @@ install(TARGETS
##### PYBIND11 LIBRARY ROBOT_DYNAMICS #####
ament_python_install_package(${PROJECT_NAME})
pybind11_add_module(_robot_dynamics SHARED
pybind11_add_module(_qros_franka_robot_dynamic 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_include_directories(_robot_dynamics
target_include_directories(_qros_franka_robot_dynamic
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/robot_dynamics>
$<INSTALL_INTERFACE:include/robot_dynamics>)
target_compile_definitions(_robot_dynamics PRIVATE IS_SAS_PYTHON_BUILD)
target_compile_definitions(_qros_franka_robot_dynamic PRIVATE IS_SAS_PYTHON_BUILD)
# https://github.com/pybind/pybind11/issues/387
target_link_libraries(_robot_dynamics PRIVATE ${PROJECT_NAME}_robot_dynamics -ldqrobotics)
target_link_libraries(_qros_franka_robot_dynamic PRIVATE ${PROJECT_NAME}_robot_dynamics -ldqrobotics)
install(TARGETS _robot_dynamics
install(TARGETS _qros_franka_robot_dynamic
DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
)
##END## PYBIND11 LIBRARY ROBOT_DYNAMICS #####