attempt to port ros2
This commit is contained in:
120
CMakeLists.txt
120
CMakeLists.txt
@@ -1,55 +1,107 @@
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cmake_minimum_required(VERSION 3.0.2)
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cmake_minimum_required(VERSION 3.8)
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project(sas_robot_driver_franka)
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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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## 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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#add_compile_options(-std=c++11)
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#add_compile_options(-std=c++11)
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add_compile_options(-Werror=return-type)
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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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if(POLICY CMP0148)
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cmake_policy(SET CMP0148 NEW)
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endif()
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#Add custom (non compiling) targets so launch scripts and python files show up in QT Creator's project view.
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#Add custom (non compiling) targets so launch scripts and python files show up in QT Creator's project view.
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file(GLOB_RECURSE EXTRA_FILES */*)
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file(GLOB_RECURSE EXTRA_FILES */*)
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#add_custom_target(${PROJECT_NAME}_OTHER_FILES ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
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#add_custom_target(${PROJECT_NAME}_OTHER_FILES ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
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add_custom_target(cfg ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
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add_custom_target(cfg ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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find_package(pybind11 REQUIRED)
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## is used, also find other catkin packages
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find_package(ament_cmake REQUIRED)
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find_package(catkin REQUIRED COMPONENTS
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find_package(rclcpp REQUIRED)
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roscpp
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find_package(geometry_msgs REQUIRED)
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rospy
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find_package(std_msgs REQUIRED)
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std_msgs
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find_package(sas_common REQUIRED)
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tf2_ros
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find_package(sas_core REQUIRED)
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tf2
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find_package(sas_conversions REQUIRED)
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sas_common
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find_package(Eigen3 REQUIRED)
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sas_clock
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find_package(tf2_ros REQUIRED)
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sas_robot_driver
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find_package(tf2 REQUIRED)
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sas_patient_side_manager
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find_package(sas_robot_driver REQUIRED)
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message_generation
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find_package(rosidl_default_generators REQUIRED)
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pybind11_catkin
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/GripperState.msg"
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"srv/Move.srv"
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"srv/Grasp.srv"
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DEPENDENCIES std_msgs
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)
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)
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ament_target_dependencies(${PROJECT_NAME}
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rclcpp geometry_msgs std_msgs sas_common sas_core sas_conversions
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tf2_ros tf2 sas_robot_driver)
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add_service_files(
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DIRECTORY srv
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target_include_directories(${PROJECT_NAME}
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FILES
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PUBLIC
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Move.srv
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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Grasp.srv
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$<INSTALL_INTERFACE:include>)
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(Eigen3 rclcpp geometry_msgs std_msgs sas_common sas_core sas_conversions
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tf2_ros tf2 sas_robot_driver)
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add_library(qros_robot_dynamics_provider src/robot_dynamics/qros_robot_dynamics_provider.cpp)
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target_link_libraries(qros_robot_dynamics_provider
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-ldqrobotics
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Eigen3::Eigen
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)
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)
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add_message_files(
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#####################################################################################
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DIRECTORY msg
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ament_python_install_package(${PROJECT_NAME})
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FILES
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# python binding
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GripperState.msg
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include_directories(
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include/robot_dynamic
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)
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)
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pybind_add_module(_qros_robot_dynamic SHARED
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catkin_python_setup()
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src/robot_dynamics/qros_robot_dynamic_py.cpp src/robot_dynamics/qros_robot_dynamics_interface.cpp src/robot_dynamics/qros_robot_dynamics_provider.cpp
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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)
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target_compile_definitions(_qros_robot_dynamic PRIVATE BUILD_PYBIND)
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# https://github.com/pybind/pybind11/issues/387
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target_link_libraries(_qros_robot_dynamic PRIVATE ${catkin_LIBRARIES} -ldqrobotics)
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#/////
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catkin_package(
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catkin_package(
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239
CMakeLists_catkin.txt
Normal file
239
CMakeLists_catkin.txt
Normal file
@@ -0,0 +1,239 @@
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cmake_minimum_required(VERSION 3.0.2)
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project(sas_robot_driver_franka)
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## Compile as C++11, supported in ROS Kinetic and newer
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||||||
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# add_compile_options(-std=c++11)
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||||||
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#add_compile_options(-std=c++11)
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||||||
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add_compile_options(-Werror=return-type)
|
||||||
|
|
||||||
|
|
||||||
|
#Add custom (non compiling) targets so launch scripts and python files show up in QT Creator's project view.
|
||||||
|
file(GLOB_RECURSE EXTRA_FILES */*)
|
||||||
|
#add_custom_target(${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
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roscpp
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rospy
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std_msgs
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tf2_ros
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tf2
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sas_common
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sas_clock
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sas_robot_driver
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sas_patient_side_manager
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message_generation
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||||||
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pybind11_catkin
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)
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||||||
|
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||||||
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add_service_files(
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DIRECTORY srv
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FILES
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Move.srv
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Grasp.srv
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)
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add_message_files(
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DIRECTORY msg
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FILES
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GripperState.msg
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)
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||||||
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catkin_python_setup()
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver tf2_ros tf2 pybind11_catkin message_runtime std_msgs
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)
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find_package(Franka REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(yaml-cpp REQUIRED)
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include_directories(${EIGEN3_INCLUDE_DIR})
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# To correctly find and link with QT
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set(CMAKE_PREFIX_PATH $ENV{QT_PATH})
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set(CMAKE_AUTOMOC ON)
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set(CMAKE_AUTORCC ON)
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set(CMAKE_AUTOUIC ON)
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if (CMAKE_VERSION VERSION_LESS "3.7.0")
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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endif ()
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find_package(Qt5 COMPONENTS Widgets REQUIRED)
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find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
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find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
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add_library(MotionGenerator src/generator/motion_generator.cpp)
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target_link_libraries(MotionGenerator Franka::Franka)
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add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
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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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||||||
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dqrobotics
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ConstraintsManager)
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||||||
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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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||||||
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dqrobotics
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||||||
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ConstraintsManager)
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||||||
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||||||
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add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
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||||||
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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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||||||
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QuadraticProgramMotionGenerator
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||||||
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CustomMotionGeneration)
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||||||
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add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
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||||||
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target_link_libraries(robot_interface_hand Franka::Franka
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||||||
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dqrobotics)
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||||||
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||||||
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||||||
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############
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||||||
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## Build ###
|
||||||
|
############
|
||||||
|
|
||||||
|
## Specify additional locations of header files
|
||||||
|
## Your package locations should be listed before other locations
|
||||||
|
|
||||||
|
|
||||||
|
include_directories(
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||||||
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include
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||||||
|
include/generator
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||||||
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src/
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||||||
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src/robot_dynamics
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||||||
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src/hand
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||||||
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src/joint
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||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
|
constraints_manager/include
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||||||
|
)
|
||||||
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||||||
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||||||
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add_library(qros_robot_dynamics_provider src/robot_dynamics/qros_robot_dynamics_provider.cpp)
|
||||||
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target_link_libraries(qros_robot_dynamics_provider
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
dqrobotics)
|
||||||
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||||||
|
add_library(qros_robot_dynamics_interface src/robot_dynamics/qros_robot_dynamics_interface.cpp)
|
||||||
|
target_link_libraries(qros_robot_dynamics_interface
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
dqrobotics)
|
||||||
|
|
||||||
|
|
||||||
|
add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
|
||||||
|
target_link_libraries(sas_robot_driver_franka
|
||||||
|
qros_robot_dynamics_provider
|
||||||
|
dqrobotics
|
||||||
|
dqrobotics-interface-json11
|
||||||
|
robot_interface_franka)
|
||||||
|
|
||||||
|
add_library(qros_effector_driver_franka_hand src/hand/qros_effector_driver_franka_hand.cpp)
|
||||||
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target_link_libraries(qros_effector_driver_franka_hand
|
||||||
|
dqrobotics
|
||||||
|
# robot_interface_hand
|
||||||
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Franka::Franka)
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||||||
|
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||||||
|
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||||||
|
add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
|
||||||
|
target_link_libraries(sas_robot_driver_coppelia
|
||||||
|
dqrobotics
|
||||||
|
dqrobotics-interface-vrep)
|
||||||
|
|
||||||
|
add_dependencies(sas_robot_driver_franka ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
add_dependencies(sas_robot_driver_coppelia ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
add_dependencies(qros_effector_driver_franka_hand ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
|
||||||
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add_executable(sas_robot_driver_coppelia_node src/sas_robot_driver_coppelia_node.cpp)
|
||||||
|
target_link_libraries(sas_robot_driver_coppelia_node
|
||||||
|
sas_robot_driver_coppelia
|
||||||
|
${catkin_LIBRARIES})
|
||||||
|
|
||||||
|
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
|
||||||
|
${catkin_LIBRARIES})
|
||||||
|
|
||||||
|
|
||||||
|
add_executable(sas_robot_driver_franka_hand_node src/sas_robot_driver_franka_hand_node.cpp)
|
||||||
|
target_link_libraries(sas_robot_driver_franka_hand_node
|
||||||
|
qros_effector_driver_franka_hand
|
||||||
|
${catkin_LIBRARIES})
|
||||||
|
|
||||||
|
|
||||||
|
add_executable(JuankaEmika
|
||||||
|
qt/configuration_window/main.cpp
|
||||||
|
qt/configuration_window/mainwindow.cpp
|
||||||
|
qt/configuration_window/mainwindow.ui
|
||||||
|
)
|
||||||
|
|
||||||
|
target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
|
||||||
|
dqrobotics
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
robot_interface_franka
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
#####################################################################################
|
||||||
|
# python binding
|
||||||
|
include_directories(
|
||||||
|
include/robot_dynamic
|
||||||
|
)
|
||||||
|
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)
|
||||||
|
|
||||||
|
|
||||||
|
if (QT_VERSION_MAJOR EQUAL 6)
|
||||||
|
qt_finalize_executable(JuankaEmika)
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
install(TARGETS ${PROJECT_NAME}
|
||||||
|
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
|
install(TARGETS sas_robot_driver_franka_node
|
||||||
|
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
|
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}
|
||||||
|
FILES_MATCHING PATTERN "*.h"
|
||||||
|
# PATTERN ".svn" EXCLUDE
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
install(TARGETS _qros_robot_dynamic
|
||||||
|
LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
0
__init__.py
Normal file
0
__init__.py
Normal file
106
package.xml
106
package.xml
@@ -3,92 +3,36 @@
|
|||||||
<name>sas_robot_driver_franka</name>
|
<name>sas_robot_driver_franka</name>
|
||||||
<version>0.0.0</version>
|
<version>0.0.0</version>
|
||||||
<description>The sas_driver_franka package</description>
|
<description>The sas_driver_franka package</description>
|
||||||
|
|
||||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
|
||||||
<maintainer email="moonshot@todo.todo">moonshot</maintainer>
|
<maintainer email="moonshot@todo.todo">moonshot</maintainer>
|
||||||
|
|
||||||
|
<license>LGPLv3</license>
|
||||||
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
<buildtool_depend>rosidl_default_generators</buildtool_depend>
|
||||||
|
|
||||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
<depend>roscpp</depend>
|
||||||
<!-- Commonly used license strings: -->
|
<depend>rospy</depend>
|
||||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
<depend>tf2_ros</depend>
|
||||||
<license>TODO</license>
|
<depend>tf2</depend>
|
||||||
|
<depend>std_msgs</depend>
|
||||||
|
<depend>sas_clock</depend>
|
||||||
|
<depend>sas_robot_driver</depend>
|
||||||
|
<depend>sas_common</depend>
|
||||||
|
<depend>pybind11_catkin</depend>
|
||||||
|
<member_of_group>rosidl_interface_packages</member_of_group>
|
||||||
|
<!-- <depend>rosidl_default_generator</depend>-->
|
||||||
|
|
||||||
|
<test_depend>roscpp</test_depend>
|
||||||
|
<test_depend>rospy</test_depend>
|
||||||
|
<test_depend>tf2_ros</test_depend>
|
||||||
|
<test_depend>tf2</test_depend>
|
||||||
|
<test_depend>std_msgs</test_depend>
|
||||||
|
<test_depend>sas_clock</test_depend>
|
||||||
|
<test_depend>sas_robot_driver</test_depend>
|
||||||
|
<test_depend>sas_common</test_depend>
|
||||||
|
<!-- <test_depend>message_runtime</test_depend>-->
|
||||||
|
<exec_depend>rosidl_default_runtime</exec_depend>
|
||||||
|
|
||||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
|
||||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <url type="website">http://wiki.ros.org/sas_driver_franka</url> -->
|
|
||||||
|
|
||||||
|
|
||||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
|
||||||
<!-- Authors do not have to be maintainers, but could be -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
|
||||||
|
|
||||||
|
|
||||||
<!-- The *depend tags are used to specify dependencies -->
|
|
||||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
|
||||||
<!-- Examples: -->
|
|
||||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
|
||||||
<!-- <depend>roscpp</depend> -->
|
|
||||||
<!-- Note that this is equivalent to the following: -->
|
|
||||||
<!-- <build_depend>roscpp</build_depend> -->
|
|
||||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
|
||||||
<!-- Use build_depend for packages you need at compile time: -->
|
|
||||||
<!-- <build_depend>message_generation</build_depend> -->
|
|
||||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
|
||||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
|
||||||
<!-- Use buildtool_depend for build tool packages: -->
|
|
||||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
|
||||||
<!-- Use exec_depend for packages you need at runtime: -->
|
|
||||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
|
||||||
<!-- Use test_depend for packages you need only for testing: -->
|
|
||||||
<!-- <test_depend>gtest</test_depend> -->
|
|
||||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
|
||||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
|
||||||
<buildtool_depend>catkin</buildtool_depend>
|
|
||||||
|
|
||||||
<build_depend>roscpp</build_depend>
|
|
||||||
<build_depend>rospy</build_depend>
|
|
||||||
<build_depend>tf2_ros</build_depend>
|
|
||||||
<build_depend>tf2</build_depend>
|
|
||||||
<build_depend>std_msgs</build_depend>
|
|
||||||
<build_depend>sas_clock</build_depend>
|
|
||||||
<build_depend>sas_robot_driver</build_depend>
|
|
||||||
<build_depend>sas_common</build_depend>
|
|
||||||
<build_depend>sas_patient_side_manager</build_depend>
|
|
||||||
<build_depend>pybind11_catkin</build_depend>
|
|
||||||
<build_depend>message_generation</build_depend>
|
|
||||||
|
|
||||||
<build_export_depend>roscpp</build_export_depend>
|
|
||||||
<build_export_depend>rospy</build_export_depend>
|
|
||||||
<build_export_depend>tf2_ros</build_export_depend>
|
|
||||||
<build_export_depend>tf2</build_export_depend>
|
|
||||||
<build_export_depend>std_msgs</build_export_depend>
|
|
||||||
<build_export_depend>sas_clock</build_export_depend>
|
|
||||||
<build_export_depend>sas_robot_driver</build_export_depend>
|
|
||||||
<build_export_depend>sas_common</build_export_depend>
|
|
||||||
<build_export_depend>sas_patient_side_manager</build_export_depend>
|
|
||||||
<build_export_depend>pybind11_catkin</build_export_depend>
|
|
||||||
|
|
||||||
|
|
||||||
<exec_depend>roscpp</exec_depend>
|
|
||||||
<exec_depend>rospy</exec_depend>
|
|
||||||
<exec_depend>tf2_ros</exec_depend>
|
|
||||||
<exec_depend>tf2</exec_depend>
|
|
||||||
<exec_depend>std_msgs</exec_depend>
|
|
||||||
<exec_depend>sas_clock</exec_depend>
|
|
||||||
<exec_depend>sas_robot_driver</exec_depend>
|
|
||||||
<exec_depend>sas_common</exec_depend>
|
|
||||||
<exec_depend>sas_patient_side_manager</exec_depend>
|
|
||||||
<exec_depend>message_runtime</exec_depend>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- The export tag contains other, unspecified, tags -->
|
|
||||||
<export>
|
<export>
|
||||||
<!-- Other tools can request additional information be placed here -->
|
<build_type>ament_cmake</build_type>
|
||||||
|
|
||||||
</export>
|
</export>
|
||||||
</package>
|
</package>
|
||||||
12
setup.py
12
setup.py
@@ -1,12 +0,0 @@
|
|||||||
# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
|
|
||||||
|
|
||||||
from distutils.core import setup
|
|
||||||
from catkin_pkg.python_setup import generate_distutils_setup
|
|
||||||
|
|
||||||
# fetch values from package.xml
|
|
||||||
setup_args = generate_distutils_setup(
|
|
||||||
packages=['sas_robot_driver_franka'],
|
|
||||||
package_dir={'': 'src'},
|
|
||||||
)
|
|
||||||
|
|
||||||
setup(**setup_args)
|
|
||||||
Reference in New Issue
Block a user