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https://github.com/stack-of-tasks/dynamic_graph_bridgeRohan Budhiraja authored
Conflicts: CMakeLists.txt package.xml src/converter.hh src/geometric_simu.cpp
https://github.com/stack-of-tasks/dynamic_graph_bridgeRohan Budhiraja authoredConflicts: CMakeLists.txt package.xml src/converter.hh src/geometric_simu.cpp
CMakeLists.txt 7.35 KiB
# Copyright (C) 2008-2013 LAAS-CNRS, JRL AIST-CNRS.
#
# Author: Florent Lamiraux, Nirmal Giftsun
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
# Catkin part
cmake_minimum_required(VERSION 2.4.6)
include(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
include(cmake/ros.cmake)
include(cmake/GNUInstallDirs.cmake)
include(cmake/python.cmake)
project(dynamic_graph_bridge)
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf)
find_package(realtime_tools)
## LAAS cmake submodule part
set(PROJECT_DESCRIPTION "Dynamic graph bridge library")
set(PROJECT_NAME dynamic_graph_bridge)
set(PROJECT_URL "")
set(CXX_DISABLE_WERROR False)
set(CUSTOM_HEADER_DIR dynamic_graph_bridge)
set(${PROJECT_NAME}_HEADERS
include/dynamic_graph_bridge/ros_init.hh
include/dynamic_graph_bridge/ros_interpreter.hh
include/dynamic_graph_bridge/sot_loader.hh
)
SEARCH_FOR_EIGEN()
SEARCH_FOR_BOOST()
SETUP_PROJECT()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
set(CMAKE_INSTALL_RPATH "${LIBRARY_OUTPUT_PATH}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${LIBRARY_OUTPUT_PATH}")
set(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname
plugindir
)
add_required_dependency(roscpp)
add_required_dependency("realtime_tools >= 1.8")
add_required_dependency(bullet)
ADD_REQUIRED_DEPENDENCY("pinocchio")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 3.1.0")#add_required_dependency(jrl-mal)
#add_required_dependency(dynamic-graph)
#add_required_dependency(dynamic-graph-python)
#add_required_dependency(sot-core)
#add_required_dependency(sot-dynamic)
#add_required_dependency(jrl-dynamics-urdf)
add_required_dependency(dynamic_graph_bridge_msgs)
add_library(ros_bridge
src/converter.hh
include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
src/sot_to_ros.hh src/sot_to_ros.cpp
)
#pkg_config_use_dependency(ros_bridge jrl-mal)
#PKG_CONFIG_USE_COMPILE_DEPENDENCY(ros_bridge eigen3)
pkg_config_use_dependency(ros_bridge bullet)
pkg_config_use_dependency(ros_bridge dynamic_graph_bridge_msgs)
install(TARGETS ros_bridge DESTINATION lib)
# Add ros_bridge in the dynamic-graph-bridge pkg-config file.
# Make sure rpath are preserved during the install as ROS dependencies
# are not installed.
set_target_properties(ros_bridge PROPERTIES BUILD_WITH_INSTALL_RPATH True
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
macro(compile_plugin NAME)
message(lib path ${LIBRARY_OUTPUT_PATH})
file(MAKE_DIRECTORY "${LIBRARY_OUTPUT_PATH}/dynamic_graph/ros/${NAME}")
add_library(${NAME} SHARED src/${NAME}.cpp src/${NAME}.hh)
pkg_config_use_dependency(${NAME} dynamic-graph)
pkg_config_use_dependency(${NAME} sot-core)
#pkg_config_use_dependency(${NAME} jrl-dynamics-urdf)
pkg_config_use_dependency(${NAME} dynamic_graph_bridge_msgs)
add_dependencies(${NAME} ros_bridge)
target_link_libraries(${NAME} ros_bridge)
set_target_properties(${NAME} PROPERTIES BUILD_WITH_INSTALL_RPATH True)
set_target_properties(${NAME} PROPERTIES PREFIX "")
install(TARGETS ${NAME} DESTINATION lib/plugin)
dynamic_graph_python_module("ros/${NAME}"
${NAME}
ros/${NAME}/wrap
)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap realtime_tools)
#KG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap eigen3)
#PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap jrl-mal)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap sot-core)
PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph_bridge_msgs)
endmacro()
compile_plugin(ros_publish)
compile_plugin(ros_subscribe)
compile_plugin(ros_time)
compile_plugin(ros_joint_state)
target_link_libraries(ros_joint_state "${DYNAMIC_GRAPH_PLUGINDIR}/dynamic.so")
compile_plugin(robot_model)
# ros_interperter library.
add_library(ros_interpreter src/ros_interpreter.cpp)
#kg_config_use_dependency(ros_interpreter eigen3)
#pkg_config_use_dependency(ros_interpreter jrl-mal)
pkg_config_use_dependency(ros_interpreter dynamic-graph)pkg_config_use_dependency(ros_interpreter sot-core)
pkg_config_use_dependency(ros_interpreter roscpp)
pkg_config_use_dependency(ros_interpreter dynamic_graph_bridge_msgs)
add_dependencies(ros_interpreter ros_bridge)
target_link_libraries(ros_interpreter ros_bridge)
set_target_properties(ros_interpreter PROPERTIES BUILD_WITH_INSTALL_RPATH True
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
message(cmakeinstalllibdir " is ${CMAKE_INSTALL_LIBDIR} ")
install(TARGETS ros_interpreter DESTINATION lib)
# Stand alone remote dynamic-graph Python interpreter.
add_executable(interpreter src/interpreter.cpp)
add_dependencies(interpreter ros_interpreter)
target_link_libraries(interpreter ros_interpreter)
#kg_config_use_dependency(interpreter eigen3)
#pkg_config_use_dependency(interpreter jrl-mal)
pkg_config_use_dependency(interpreter dynamic-graph)
pkg_config_use_dependency(interpreter sot-core)
pkg_config_use_dependency(interpreter sot-dynamic)
pkg_config_use_dependency(interpreter dynamic_graph_bridge_msgs)
# set_target_properties(interpreter PROPERTIES BUILD_WITH_INSTALL_RPATH True)
#install(TARGETS interpreter DESTINATION bin)
# Stand alone embedded intepreter with a robot controller.
add_executable(geometric_simu src/geometric_simu.cpp src/sot_loader.cpp)
pkg_config_use_dependency(geometric_simu roscpp)
target_link_libraries(geometric_simu ros_bridge ${Boost_LIBRARIES} ${CMAKE_DL_LIBS})
# Sot loader library
add_library(sot_loader src/sot_loader.cpp)
pkg_config_use_dependency(sot_loader dynamic-graph)
pkg_config_use_dependency(sot_loader sot-core)
target_link_libraries(sot_loader ${Boost_LIBRARIES})
install(TARGETS sot_loader DESTINATION lib)
add_subdirectory(src)
# Deal with the ROS part.
add_service_files( FILES RunPythonFile.srv )
generate_messages( DEPENDENCIES std_msgs )
catkin_package(CATKIN_DEPENDS message_runtime LIBRARIES ros_bridge ros_interpreter)
# Add libraries in pc file generated by cmake submodule
PKG_CONFIG_APPEND_LIBS(ros_bridge ros_interpreter)
#install ros executables
install(PROGRAMS
${CMAKE_SOURCE_DIR}/scripts/robot_pose_publisher
${CMAKE_SOURCE_DIR}/scripts/run_command
${CMAKE_SOURCE_DIR}/scripts/tf_publisher
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
message(cmake_install_bindir " is ${CMAKE_INSTALL_BINDIR} ")
install(TARGETS geometric_simu DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(FILES manifest.xml DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/)
# Service file.
install(FILES ./srv/RunPythonFile.srv DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/srv)
SETUP_PROJECT_FINALIZE()