129 lines
2.9 KiB
CMake
129 lines
2.9 KiB
CMake
cmake_minimum_required(VERSION 3.10)
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project(hivecore_robot_motion)
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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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# 查找依赖
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_ros REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(action_msgs REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(moveit_core REQUIRED)
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find_package(moveit_ros_planning REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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# 定义Action接口
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set(action_files
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"action/MoveJ.action"
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"action/MoveL.action"
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)
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rosidl_generate_interfaces(${PROJECT_NAME}
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${action_files}
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DEPENDENCIES action_msgs geometry_msgs
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)
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# 库和可执行文件
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add_library(
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${PROJECT_NAME}
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SHARED
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src/controllers/joint_trajectory_controller.cpp
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src/controllers/cartesian_trajectory_controller.cpp
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src/hardware/ethercat_hardware_interface.cpp
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src/hardware/canopen_hardware_interface.cpp
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src/hardware/robot_hardware_interface.cpp
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src/nodes/motion_control_node.cpp
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src/planning/moveit_planner.cpp
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)
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target_include_directories(
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${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(
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${PROJECT_NAME}
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rclcpp
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rclcpp_action
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std_msgs
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sensor_msgs
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geometry_msgs
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tf2
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tf2_ros
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moveit_core
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moveit_ros_planning
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moveit_ros_planning_interface
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controller_interface
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hardware_interface
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pluginlib
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rclcpp_lifecycle
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realtime_tools
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ethercat_interface
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canopen_core
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)
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# 链接Action接口
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rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
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target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
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# 安装库和可执行文件
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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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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# 安装启动文件和配置文件
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install(
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DIRECTORY launch config urdf
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DESTINATION share/${PROJECT_NAME}
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)
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# 安装节点
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add_executable(motion_control_node src/nodes/motion_control_main.cpp)
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target_link_libraries(motion_control_node ${PROJECT_NAME})
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install(TARGETS
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motion_control_node
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_export_include_directories(
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include
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)
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ament_export_libraries(
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${PROJECT_NAME}
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)
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ament_export_targets(
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export_${PROJECT_NAME}
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)
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ament_package()
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