qlin/sas_robot_driver_franka
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added cartesian interface

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This commit is contained in:
qlin1806
2024-07-19 18:35:17 -07:00
parent a68afa690d
commit 9d65b88cb3
8 changed files with 178 additions and 7 deletions
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11
CMakeLists.txt
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@@ -91,16 +91,21 @@ target_link_libraries(robot_interface_hand Franka::Franka
include_directories(
include
src/
src/dynamic_interface
${catkin_INCLUDE_DIRS}
constraints_manager/include
)
add_library(sas_robot_dynamic_provider src/dynamic_interface/sas_robot_dynamic_provider.cpp)
target_link_libraries(sas_robot_dynamic_provider dqrobotics)
add_library(sas_robot_driver_franka src/sas_robot_driver_franka.cpp)
target_link_libraries(sas_robot_driver_franka
dqrobotics
robot_interface_franka)
sas_robot_dynamic_provider
dqrobotics
robot_interface_franka)
add_library(sas_robot_driver_franka_hand src/sas_robot_driver_franka_hand.cpp)
target_link_libraries(sas_robot_driver_franka_hand
@@ -123,7 +128,7 @@ target_link_libraries(sas_robot_driver_coppelia_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
sas_robot_driver_franka
${catkin_LIBRARIES})