moved calibration to own repository

2026-04-10 10:00:48 +02:00 · 2019-05-27 16:30:21 +02:00
parent ceb00d8d6d
commit 312fe8b1b7
110 changed files with 250 additions and 46 deletions
--- a/ur_rtde_driver/CMakeLists.txt
+++ b/ur_rtde_driver/CMakeLists.txt
@@ -0,0 +1,127 @@
+cmake_minimum_required(VERSION 2.8.12)
+project(ur_rtde_driver)
+
+add_definitions( -DROS_BUILD )
+
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.")
+  set(CMAKE_BUILD_TYPE RelWithDebInfo)
+endif()
+
+find_package(catkin REQUIRED
+  COMPONENTS
+    actionlib
+    control_msgs
+    controller_manager
+    geometry_msgs
+    hardware_interface
+    industrial_msgs
+    roscpp
+    sensor_msgs
+    std_srvs
+    tf
+    trajectory_msgs
+    ur_msgs
+)
+find_package(Boost REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ur_rtde_driver
+  CATKIN_DEPENDS
+    actionlib
+    control_msgs
+    controller_manager
+    geometry_msgs
+    hardware_interface
+    industrial_msgs
+    roscpp
+    sensor_msgs
+    trajectory_msgs
+    ur_msgs
+    std_srvs
+    tf
+  DEPENDS
+    Boost
+)
+
+
+# check c++11 / c++0x
+include(CheckCXXCompilerFlag)
+check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
+check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+  add_compile_options(-std=c++11)
+elseif(COMPILER_SUPPORTS_CXX0X)
+  add_compile_options(-std=c++0x)
+else()
+  message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
+endif()
+
+add_compile_options(-Wall)
+add_compile_options(-Wextra)
+add_compile_options(-Wno-unused-parameter)
+
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+add_library(ur_rtde_driver
+    src/comm/tcp_socket.cpp
+    src/comm/server.cpp
+    #src/ros/service_stopper.cpp
+    #src/ur/commander.cpp
+    #src/ur/master_board.cpp
+    #src/ur/messages.cpp
+    #src/ur/robot_mode.cpp
+    #src/ur/rt_state.cpp
+    src/primary/primary_package.cpp
+    src/primary/robot_message.cpp
+    src/primary/robot_message/version_message.cpp
+    src/primary/robot_state/kinematics_info.cpp
+    src/rtde/control_package_pause.cpp
+    src/rtde/control_package_setup_inputs.cpp
+    src/rtde/control_package_setup_outputs.cpp
+    src/rtde/control_package_start.cpp
+    src/rtde/data_package.cpp
+    src/rtde/get_urcontrol_version.cpp
+    src/rtde/request_protocol_version.cpp
+    src/rtde/rtde_package.cpp
+    src/rtde/text_message.cpp
+    src/rtde/rtde_client.cpp
+    src/ur/ur_driver.cpp
+)
+target_link_libraries(ur_rtde_driver ${catkin_LIBRARIES})
+add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_executable(ur_rtde_driver_node
+  src/ros/hardware_interface.cpp
+  src/ros/hardware_interface_node.cpp
+)
+target_link_libraries(ur_rtde_driver_node ${catkin_LIBRARIES} ur_rtde_driver)
+add_dependencies(ur_rtde_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_executable(plain_driver
+  src/main_plain_driver.cpp
+)
+target_link_libraries(plain_driver ${catkin_LIBRARIES} ur_rtde_driver)
+add_dependencies(plain_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+
+install(DIRECTORY config launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(TARGETS ur_rtde_driver ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})