292 lines
8.3 KiB
CMake
292 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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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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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(cfg ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
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find_package(pybind11 REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sas_common REQUIRED)
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find_package(sas_core REQUIRED)
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find_package(sas_conversions REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(sas_robot_driver REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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rosidl_generate_interfaces(${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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ament_target_dependencies(${PROJECT_NAME}
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rclcpp geometry_msgs std_msgs sas_common sas_core sas_conversions
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tf2_ros tf2 sas_robot_driver)
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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ament_export_targets(export_${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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ament_python_install_package(${PROJECT_NAME})
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# python binding
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include_directories(
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include/robot_dynamic
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)
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pybind_add_module(_qros_robot_dynamic SHARED
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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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)
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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 ${catkin_LIBRARIES} -ldqrobotics)
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#/////
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver tf2_ros tf2 pybind11_catkin message_runtime std_msgs
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)
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find_package(Franka REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(yaml-cpp REQUIRED)
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include_directories(${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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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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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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############
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## Build ###
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############
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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include
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include/generator
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src/
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src/robot_dynamics
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src/hand
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src/joint
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${catkin_INCLUDE_DIRS}
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constraints_manager/include
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)
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add_library(qros_robot_dynamics_provider src/robot_dynamics/qros_robot_dynamics_provider.cpp)
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target_link_libraries(qros_robot_dynamics_provider
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${catkin_LIBRARIES}
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dqrobotics)
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add_library(qros_robot_dynamics_interface src/robot_dynamics/qros_robot_dynamics_interface.cpp)
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target_link_libraries(qros_robot_dynamics_interface
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${catkin_LIBRARIES}
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dqrobotics)
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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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qros_robot_dynamics_provider
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dqrobotics
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dqrobotics-interface-json11
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robot_interface_franka)
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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
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dqrobotics
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# robot_interface_hand
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Franka::Franka)
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add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
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target_link_libraries(sas_robot_driver_coppelia
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dqrobotics
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dqrobotics-interface-vrep)
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add_dependencies(sas_robot_driver_franka ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(sas_robot_driver_coppelia ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(qros_effector_driver_franka_hand ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(sas_robot_driver_coppelia_node src/sas_robot_driver_coppelia_node.cpp)
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target_link_libraries(sas_robot_driver_coppelia_node
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sas_robot_driver_coppelia
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${catkin_LIBRARIES})
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add_executable(sas_robot_driver_franka_node src/sas_robot_driver_franka_node.cpp)
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target_link_libraries(sas_robot_driver_franka_node
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sas_robot_driver_franka
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${catkin_LIBRARIES})
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add_executable(sas_robot_driver_franka_hand_node src/sas_robot_driver_franka_hand_node.cpp)
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target_link_libraries(sas_robot_driver_franka_hand_node
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qros_effector_driver_franka_hand
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${catkin_LIBRARIES})
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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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target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
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dqrobotics
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${catkin_LIBRARIES}
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robot_interface_franka
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)
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#####################################################################################
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# python binding
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include_directories(
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include/robot_dynamic
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)
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pybind_add_module(_qros_robot_dynamic SHARED
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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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)
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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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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 ${PROJECT_NAME}
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DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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install(TARGETS sas_robot_driver_franka_node
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(TARGETS sas_robot_driver_coppelia_node
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(TARGETS sas_robot_driver_franka_hand_node
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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)
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install(TARGETS _qros_robot_dynamic
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LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
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)
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