qlin/sas_robot_driver_franka
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* added cartesian interface

* general fix and optimization
This commit is contained in:
qlin960618
2024-07-19 22:34:54 -07:00
committed by GitHub
parent a68afa690d
commit e263d34c0c
25 changed files with 412 additions and 68 deletions
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35
CMakeLists.txt
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@@ -49,25 +49,25 @@ find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
add_library(MotionGenerator src/motion_generator.cpp)
add_library(MotionGenerator src/generator/motion_generator.cpp)
target_link_libraries(MotionGenerator Franka::Franka)
add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
add_library(QuadraticProgramMotionGenerator src/quadratic_program_motion_generator.cpp)
add_library(QuadraticProgramMotionGenerator src/generator/quadratic_program_motion_generator.cpp)
target_link_libraries(QuadraticProgramMotionGenerator
qpOASES
dqrobotics
ConstraintsManager)
add_library(CustomMotionGeneration src/custom_motion_generation.cpp)
add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp)
target_link_libraries(CustomMotionGeneration
qpOASES
dqrobotics
ConstraintsManager)
add_library(robot_interface_franka src/robot_interface_franka.cpp)
add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
target_link_libraries(robot_interface_franka Franka::Franka
dqrobotics
MotionGenerator
@@ -75,7 +75,7 @@ target_link_libraries(robot_interface_franka Franka::Franka
QuadraticProgramMotionGenerator
CustomMotionGeneration)
add_library(robot_interface_hand src/robot_interface_hand.cpp)
add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
target_link_libraries(robot_interface_hand Franka::Franka
dqrobotics)
@@ -90,25 +90,33 @@ target_link_libraries(robot_interface_hand Franka::Franka
include_directories(
include
include/generator
src/
src/dynamic_interface
src/hand
src/joint
${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)
add_library(sas_robot_driver_franka src/joint/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)
add_library(sas_robot_driver_franka_hand src/hand/sas_robot_driver_franka_hand.cpp)
target_link_libraries(sas_robot_driver_franka_hand
dqrobotics
Franka::Franka)
add_library(sas_robot_driver_coppelia src/sas_robot_driver_coppelia.cpp)
add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
target_link_libraries(sas_robot_driver_coppelia
dqrobotics
dqrobotics-interface-vrep)
@@ -123,7 +131,7 @@ 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
${catkin_LIBRARIES})
@@ -142,7 +150,6 @@ add_executable(JuankaEmika
target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
dqrobotics
${catkin_LIBRARIES}
robot_interface_franka
)
@@ -166,6 +173,10 @@ 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}