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) 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 ${EXTRA_FILES}) find_package(pybind11 REQUIRED) find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(geometry_msgs REQUIRED) find_package(std_msgs REQUIRED) find_package(sas_common REQUIRED) find_package(sas_core REQUIRED) find_package(sas_conversions REQUIRED) find_package(Eigen3 REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2 REQUIRED) find_package(sas_robot_driver REQUIRED) find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "msg/GripperState.msg" "srv/Move.srv" "srv/Grasp.srv" DEPENDENCIES std_msgs ) ament_target_dependencies(${PROJECT_NAME} rclcpp geometry_msgs std_msgs sas_common sas_core sas_conversions tf2_ros tf2 sas_robot_driver) target_include_directories(${PROJECT_NAME} PUBLIC $ $) ament_export_targets(export_${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 ) ##################################################################################### ament_python_install_package(${PROJECT_NAME}) # 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 ${catkin_LIBRARIES} -ldqrobotics) #///// catkin_package( INCLUDE_DIRS include CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver tf2_ros tf2 pybind11_catkin message_runtime std_msgs ) find_package(Franka REQUIRED) find_package(Eigen3 REQUIRED) find_package(yaml-cpp REQUIRED) include_directories(${EIGEN3_INCLUDE_DIR}) # To correctly find and link with QT set(CMAKE_PREFIX_PATH $ENV{QT_PATH}) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTORCC ON) set(CMAKE_AUTOUIC ON) if (CMAKE_VERSION VERSION_LESS "3.7.0") set(CMAKE_INCLUDE_CURRENT_DIR ON) endif () find_package(Qt5 COMPONENTS Widgets REQUIRED) find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets) find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets) add_library(MotionGenerator src/generator/motion_generator.cpp) target_link_libraries(MotionGenerator Franka::Franka) add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp) add_library(QuadraticProgramMotionGenerator src/generator/quadratic_program_motion_generator.cpp) target_link_libraries(QuadraticProgramMotionGenerator qpOASES dqrobotics ConstraintsManager) add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp) target_link_libraries(CustomMotionGeneration qpOASES dqrobotics ConstraintsManager) add_library(robot_interface_franka src/joint/robot_interface_franka.cpp) target_link_libraries(robot_interface_franka Franka::Franka dqrobotics MotionGenerator ConstraintsManager QuadraticProgramMotionGenerator CustomMotionGeneration) add_library(robot_interface_hand src/hand/robot_interface_hand.cpp) target_link_libraries(robot_interface_hand Franka::Franka dqrobotics) ############ ## Build ### ############ ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( include include/generator src/ src/robot_dynamics src/hand src/joint ${catkin_INCLUDE_DIRS} constraints_manager/include ) add_library(qros_robot_dynamics_provider src/robot_dynamics/qros_robot_dynamics_provider.cpp) target_link_libraries(qros_robot_dynamics_provider ${catkin_LIBRARIES} dqrobotics) 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) target_link_libraries(qros_effector_driver_franka_hand dqrobotics # robot_interface_hand Franka::Franka) 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}) 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} )