294 lines
8.3 KiB
CMake
294 lines
8.3 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(sas_robot_driver_franka)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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#add_compile_options(-std=c++11)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(pybind11 REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sas_common REQUIRED)
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find_package(sas_core REQUIRED)
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find_package(sas_msgs REQUIRED)
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find_package(sas_conversions REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(sas_robot_driver REQUIRED)
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find_package(Franka REQUIRED)
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find_package(sas_robot_driver_franka_interfaces REQUIRED) # Add this line
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## To correctly find and link with QT
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set(CMAKE_PREFIX_PATH $ENV{QT_PATH})
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set(CMAKE_AUTOMOC ON)
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set(CMAKE_AUTORCC ON)
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set(CMAKE_AUTOUIC ON)
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if (CMAKE_VERSION VERSION_LESS "3.7.0")
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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endif ()
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find_package(Qt5 COMPONENTS Widgets REQUIRED)
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##### CPP LIBRARY initial #####
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include_directories(
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include
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constraints_manager/include
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)
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install(
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DIRECTORY include/
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DESTINATION include
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)
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(Eigen3 rclcpp geometry_msgs std_msgs
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sas_common sas_core sas_conversions sas_robot_driver_franka_interfaces
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tf2_ros tf2 sas_robot_driver)
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##### CPP LIBRARY initial end #####
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##### CPP LIBRARY ROBOT_DYNAMICS #####
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add_library(${PROJECT_NAME}_robot_dynamics SHARED
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src/robot_dynamics/qros_robot_dynamics_client.cpp
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src/robot_dynamics/qros_robot_dynamics_server.cpp
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)
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ament_target_dependencies(${PROJECT_NAME}_robot_dynamics
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rclcpp geometry_msgs std_msgs
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sas_common sas_core sas_conversions
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tf2_ros tf2 sas_robot_driver)
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target_include_directories(${PROJECT_NAME}_robot_dynamics
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(${PROJECT_NAME}_robot_dynamics
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-ldqrobotics
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Eigen3::Eigen
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)
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install(
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TARGETS ${PROJECT_NAME}_robot_dynamics # ${PROJECT_NAME}
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EXPORT export_${PROJECT_NAME} #export_${PROJECT_NAME}
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LIBRARY DESTINATION lib
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#ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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##END## CPP LIBRARY ROBOT_DYNAMICS #####
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##### CPP LIBRARY Motion Generation #####
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add_library(MotionGenerator src/generator/motion_generator.cpp)
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target_link_libraries(MotionGenerator Franka::Franka Eigen3::Eigen)
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add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
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target_link_libraries(ConstraintsManager Eigen3::Eigen)
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install(
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DIRECTORY constraints_manager/include/
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DESTINATION include/constraints_manager
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)
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target_include_directories(ConstraintsManager
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/constraints_manager/include>
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$<INSTALL_INTERFACE:include/constraints_manager>)
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add_library(QuadraticProgramMotionGenerator src/generator/quadratic_program_motion_generator.cpp)
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target_link_libraries(QuadraticProgramMotionGenerator
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qpOASES
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dqrobotics
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ConstraintsManager)
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add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp)
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target_link_libraries(CustomMotionGeneration
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qpOASES
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dqrobotics
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ConstraintsManager)
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##### CPP LIBRARY Motion Generation end #####
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##### CPP LIBRARY franka low level interface #####
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add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
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target_link_libraries(robot_interface_franka Franka::Franka
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dqrobotics
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MotionGenerator
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ConstraintsManager
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QuadraticProgramMotionGenerator
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CustomMotionGeneration)
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add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
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target_link_libraries(robot_interface_hand Franka::Franka
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dqrobotics)
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##### CPP LIBRARY franka low level interface end #####
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##### SAS Franka Robot Driver #####
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add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
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target_link_libraries(sas_robot_driver_franka
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${PROJECT_NAME}_robot_dynamics
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dqrobotics
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dqrobotics-interface-json11
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robot_interface_franka)
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##### SAS Franka Robot Driver end #####
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##### qros hand effector driver #####
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add_library(qros_effector_driver_franka_hand src/hand/qros_effector_driver_franka_hand.cpp)
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ament_target_dependencies(qros_effector_driver_franka_hand
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rclcpp sas_common sas_core
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sas_robot_driver_franka_interfaces
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)
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#ament_target_dependencies(${PROJECT_NAME}_robot_dynamics
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# rclcpp geometry_msgs std_msgs
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# sas_common sas_core sas_conversions
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# tf2_ros tf2 sas_robot_driver)
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target_link_libraries(qros_effector_driver_franka_hand
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dqrobotics
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Franka::Franka)
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#target_include_directories(qros_effector_driver_franka_hand
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# PUBLIC
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# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/interface>
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# $<INSTALL_INTERFACE:include/interface>)
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##### qros hand effector driver end #####
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##### SAS Franka Robot Driver Node #####
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add_executable(sas_robot_driver_franka_node src/sas_robot_driver_franka_node.cpp)
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ament_target_dependencies(sas_robot_driver_franka_node
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rclcpp sas_common sas_core
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sas_robot_driver)
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target_link_libraries(sas_robot_driver_franka_node sas_robot_driver_franka)
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install(TARGETS
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sas_robot_driver_franka_node
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DESTINATION lib/${PROJECT_NAME})
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##### SAS Franka Robot Hand Driver Node #####
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add_executable(sas_robot_driver_franka_hand_node src/sas_robot_driver_franka_hand_node.cpp)
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ament_target_dependencies(sas_robot_driver_franka_node
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rclcpp sas_common sas_core)
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target_link_libraries(sas_robot_driver_franka_hand_node
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qros_effector_driver_franka_hand)
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install(TARGETS
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sas_robot_driver_franka_hand_node
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DESTINATION lib/${PROJECT_NAME})
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##### Coppelia Mirror Node #####
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add_executable(sas_robot_driver_franka_coppelia_node
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src/sas_robot_driver_coppelia_node.cpp
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src/coppelia/sas_robot_driver_coppelia.cpp
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)
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ament_target_dependencies(sas_robot_driver_franka_coppelia_node
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rclcpp sas_common sas_core sas_conversions sas_robot_driver
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)
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target_link_libraries(sas_robot_driver_franka_coppelia_node
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dqrobotics
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dqrobotics-interface-json11
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dqrobotics-interface-vrep
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)
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install(TARGETS
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sas_robot_driver_franka_coppelia_node
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DESTINATION lib/${PROJECT_NAME})
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##### JuanEmika
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add_executable(JuankaEmika
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qt/configuration_window/main.cpp
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qt/configuration_window/mainwindow.cpp
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qt/configuration_window/mainwindow.ui
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)
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ament_target_dependencies(sas_robot_driver_franka_node
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rclcpp sas_common sas_core
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sas_robot_driver)
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target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
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dqrobotics
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robot_interface_franka
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)
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if (QT_VERSION_MAJOR EQUAL 6)
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qt_finalize_executable(JuankaEmika)
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endif ()
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install(TARGETS
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JuankaEmika
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DESTINATION lib/${PROJECT_NAME})
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##### PYBIND11 LIBRARY ROBOT_DYNAMICS #####
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ament_python_install_package(${PROJECT_NAME})
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pybind11_add_module(_qros_franka_robot_dynamics_py SHARED
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src/robot_dynamics/qros_robot_dynamics_py.cpp
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src/robot_dynamics/qros_robot_dynamics_client.cpp
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src/robot_dynamics/qros_robot_dynamics_server.cpp
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)
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target_include_directories(_qros_franka_robot_dynamics_py
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/robot_dynamics>
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$<INSTALL_INTERFACE:include/robot_dynamics>)
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target_compile_definitions(_qros_franka_robot_dynamics_py PRIVATE IS_SAS_PYTHON_BUILD)
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# https://github.com/pybind/pybind11/issues/387
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target_link_libraries(_qros_franka_robot_dynamics_py PRIVATE ${PROJECT_NAME}_robot_dynamics -ldqrobotics)
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install(TARGETS _qros_franka_robot_dynamics_py
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DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
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)
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##END## PYBIND11 LIBRARY ROBOT_DYNAMICS #####
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install(
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DIRECTORY include/
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DESTINATION include
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)
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##### LAUNCH FILES #####
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install(DIRECTORY
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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##END## LAUNCH FILES #####
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ament_package()
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