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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(xr1controllerol)
add_compile_options(-std=c++11)
add_compile_options(-fPIC)
add_compile_options(-DQT_NO_VERSION_TAGGING)
add_compile_options(-pthread)
add_compile_options(-DASIO_STANDALONE)
add_compile_options(-DASIO_HAS_STD_CHRONO)
add_compile_options(-DIMU_ENABLE)
add_compile_options(-O3)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
xr1controllerros
std_msgs
std_srvs
geometry_msgs
message_generation
roslib
tf_conversions
eigen_conversions
)
include_directories(
include
include/${PROJECT_NAME}
xr1controllers-build
${CMAKE_CURRENT_SOURCE_DIR}/ActuatorController_SDK/serialPort_Ethernet2CAN_sdk_v3.0.0/sdk/include
${CMAKE_CURRENT_SOURCE_DIR}/ActuatorController_SDK/serialPort_Ethernet2CAN_sdk_v3.0.0/sdk/include/asio
${CMAKE_CURRENT_SOURCE_DIR}/ActuatorController_SDK/serialPort_Ethernet2CAN_sdk_v3.0.0/sdk/include/asio/asio
${catkin_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/Eigen3
)
add_message_files(
FILES
AnimationMsgs.msg
)
add_service_files(
FILES
IKLinearService.srv
IKTrackingService.srv
HandGripQuery.srv
askReadiness.srv
AnimationQuery.srv
AnimationOverwrite.srv
RobotStateQuery.srv
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES xr1controllerol
CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs sensor_msgs
)
# Declare a C++ library
add_library(${PROJECT_NAME}
src/${PROJECT_NAME}/xr1controllerol.cpp
src/${PROJECT_NAME}/xr1controllerolulit.cpp
src/${PROJECT_NAME}/xr1controllerolmsgulit.cpp
src/${PROJECT_NAME}/xr1controllerolanimation.cpp
src/${PROJECT_NAME}/xr1controllerolhigh.cpp
src/${PROJECT_NAME}/xr1controllerollow.cpp
src/${PROJECT_NAME}/xr1controllerolik.cpp
src/${PROJECT_NAME}/xr1controllerolmodes.cpp
src/${PROJECT_NAME}/xr1controllerolactuator.cpp
src/${PROJECT_NAME}/xr1controllerolomni.cpp
src/${PROJECT_NAME}/xr1controllerolhopps.cpp
src/${PROJECT_NAME}/xr1controlleroltilt.cpp
)
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${CMAKE_CURRENT_SOURCE_DIR}/ActuatorController_SDK/serialPort_Ethernet2CAN_sdk_v3.0.0/sdk/lib/$ENV{BUILD_PLATFORM}/libActuatorController.so
${CMAKE_CURRENT_SOURCE_DIR}/xr1controllers-build/$ENV{BUILD_PLATFORM}/libXR1ControllerPM.so
${CMAKE_CURRENT_SOURCE_DIR}/xr1controllers-build/$ENV{BUILD_PLATFORM}/libXR1Controller.so
${CMAKE_CURRENT_SOURCE_DIR}/xr1controllers-build/$ENV{BUILD_PLATFORM}/libXR1IMU.so
${CMAKE_CURRENT_SOURCE_DIR}/xr1controllers-build/$ENV{BUILD_PLATFORM}/libXR1ControllerALP.so
${CMAKE_CURRENT_SOURCE_DIR}/xr1controllers-build/$ENV{BUILD_PLATFORM}/libXR1ControllerBLC.so
${CMAKE_CURRENT_SOURCE_DIR}/xr1controllers-build/$ENV{BUILD_PLATFORM}/libCrossTimer.so
)
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_executable(actuator_bridge src/actuator_bridge.cpp)
target_link_libraries(actuator_bridge ${catkin_LIBRARIES} ${PROJECT_NAME})
add_dependencies(actuator_bridge ${PROJECT_NAME} ${catkin_LIBRARIES})
#add_executable(tilt_test src/tilt_test.cpp)
#target_link_libraries(tilt_test ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_dependencies(tilt_test ${PROJECT_NAME} ${catkin_LIBRARIES})
add_executable(xr1controllerIK_simulator src/xr1controllerIK_simulator.cpp)
target_link_libraries(xr1controllerIK_simulator ${catkin_LIBRARIES} ${PROJECT_NAME})
add_dependencies(xr1controllerIK_simulator ${PROJECT_NAME} ${catkin_LIBRARIES})
add_executable(xr1controllerOL_simulator src/xr1controllerOL_simulator.cpp)
target_link_libraries(xr1controllerOL_simulator ${catkin_LIBRARIES} ${PROJECT_NAME})
add_dependencies(xr1controllerOL_simulator ${PROJECT_NAME} ${catkin_LIBRARIES})
#add_executable(xr1controllerodom_simulator src/xr1controllerodom_simulator.cpp)
#target_link_libraries(xr1controllerodom_simulator ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_dependencies(xr1controllerodom_simulator ${PROJECT_NAME} ${catkin_LIBRARIES})
#add_executable(mute_test src/mute_test.cpp)
#target_link_libraries(mute_test ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_dependencies(mute_test ${PROJECT_NAME} ${catkin_LIBRARIES})
#add_executable(taught_test src/taught_test.cpp)
#target_link_libraries(taught_test ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_dependencies(taught_test ${PROJECT_NAME} ${catkin_LIBRARIES})
#add_executable(xr1controllerIK_varify src/xr1controllerIK_varify.cpp)
#target_link_libraries(xr1controllerIK_varify ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_dependencies(xr1controllerIK_varify ${PROJECT_NAME} ${catkin_LIBRARIES})
add_executable(xr1controllerALP_simulator src/xr1controllerALP_simulator.cpp)
target_link_libraries(xr1controllerALP_simulator ${catkin_LIBRARIES} ${PROJECT_NAME})
add_dependencies(xr1controllerALP_simulator ${PROJECT_NAME} ${catkin_LIBRARIES})
#add_executable(ik_example src/IK_Example.cpp)
#target_link_libraries(ik_example ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_dependencies(ik_example ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_executable(ik_bench src/IK_Bench.cpp)
#target_link_libraries(ik_bench ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_dependencies(ik_bench ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_executable(ik_odom src/IK_odom.cpp)
#target_link_libraries(ik_odom ${catkin_LIBRARIES} ${PROJECT_NAME})
#add_dependencies(ik_odom ${catkin_LIBRARIES} ${PROJECT_NAME})