Added the Cmake file

2023-06-07 10:41:03 +09:00
parent 3dc79ae5e6
commit e036a80531
1 changed files with 109 additions and 0 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -0,0 +1,109 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(sas_robot_driver_franka)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+#add_compile_options(-std=c++11)
+add_compile_options(-Werror=return-type)
+add_definitions(-D_USE_LINUX_API)
+
+#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 ${EXTRA_FILES})
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  sas_common
+  sas_clock
+  sas_robot_driver
+  sas_patient_side_manager
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES sas_robot_driver_denso
+  CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver
+)
+
+find_package(Franka REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(yaml-cpp REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
+
+
+
+
+add_library(MotionGenerator src/motion_generator.cpp)
+target_link_libraries(MotionGenerator Franka::Franka)
+
+
+add_library(QuadraticProgramMotionGenerator src/quadratic_program_motion_generator.cpp)
+target_link_libraries(QuadraticProgramMotionGenerator
+                       qpOASES
+                       dqrobotics
+                       ConstraintsManager)
+
+
+
+add_library(robot_interface_franka src/robot_interface_franka.cpp)
+target_link_libraries(robot_interface_franka Franka::Franka
+                      dqrobotics
+                      MotionGenerator
+                      QuadraticProgramMotionGenerator)
+
+
+
+############
+## Build ###
+############
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+
+
+include_directories(
+    include
+    src/
+    ${catkin_INCLUDE_DIRS}
+    )
+
+
+
+add_library(sas_robot_driver_franka src/sas_robot_driver_franka.cpp)
+target_link_libraries(sas_robot_driver_franka
+                      dqrobotics
+                      robot_interface_franka)
+
+
+
+
+add_dependencies(sas_robot_driver_franka ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})                        
+
+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})
+
+
+
+
+install(TARGETS ${PROJECT_NAME}
+DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(TARGETS sas_robot_driver_franka_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
+)