attempt to port ros2

2024-07-26 12:59:23 +09:00
parent e72826aeff
commit f5552be8d6
7 changed files with 351 additions and 128 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,55 +1,107 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 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)
-
+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 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
-        tf2_ros
-        tf2
-        sas_common
-        sas_clock
-        sas_robot_driver
-        sas_patient_side_manager
-        message_generation
-        pybind11_catkin
+
+find_package(pybind11 REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sas_common REQUIRED)
+find_package(sas_core REQUIRED)
+find_package(sas_conversions REQUIRED)
+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)

-add_service_files(
-        DIRECTORY srv
-        FILES
-        Move.srv
-        Grasp.srv
+
+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
 )

-add_message_files(
-        DIRECTORY msg
-        FILES
-        GripperState.msg
+#####################################################################################
+ament_python_install_package(${PROJECT_NAME})
+# python binding
+include_directories(
+        include/robot_dynamic
 )
-
-catkin_python_setup()
-
-generate_messages(
-        DEPENDENCIES
-        std_msgs
-
+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)
+
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+
+#/////
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 catkin_package(