76 lines
2.1 KiB
CMake
76 lines
2.1 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(lite6_controller)
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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 dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(robot_interfaces REQUIRED)
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find_package(robot_controller REQUIRED)
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find_package(moveit REQUIRED)
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find_package(pilz_industrial_motion_planner REQUIRED)
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find_package(moveit_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(xarm_api REQUIRED)
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find_package(xarm_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(Eigen3 REQUIRED)
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include_directories(include ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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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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add_executable(lite6_controller src/lite6_controller.cpp)
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ament_target_dependencies(lite6_controller
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"rclcpp"
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"moveit"
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"rclcpp_action"
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"Eigen3"
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"pilz_industrial_motion_planner"
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"robot_controller"
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"moveit_ros_planning_interface"
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"robot_interfaces")
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add_executable(lite6_calibration src/lite6_calibration.cpp)
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ament_target_dependencies(lite6_calibration
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"xarm_msgs"
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"xarm_api"
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"rclcpp"
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"moveit"
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"rclcpp_action"
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"Eigen3"
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"pilz_industrial_motion_planner"
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"robot_controller"
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"moveit_ros_planning_interface"
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"robot_interfaces")
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(TARGETS
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lite6_controller
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lite6_calibration
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DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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ament_package()
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