Obbart/universal_robots_ros_driver
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build: make catkin_lint happy(ier).

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This commit is contained in:
gavanderhoorn
2018-10-05 14:23:14 +02:00
parent 413a6568d1
commit 4061639e5b
1 changed files with 34 additions and 33 deletions
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67
CMakeLists.txt
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@@ -3,19 +3,20 @@ project(ur_modern_driver)
add_definitions( -DROS_BUILD ) add_definitions( -DROS_BUILD )
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED
hardware_interface COMPONENTS
controller_manager actionlib
actionlib control_msgs
control_msgs controller_manager
geometry_msgs geometry_msgs
industrial_msgs hardware_interface
roscpp industrial_msgs
sensor_msgs roscpp
std_srvs sensor_msgs
trajectory_msgs std_srvs
ur_msgs tf
tf trajectory_msgs
ur_msgs
) )
@@ -25,12 +26,12 @@ catkin_package(
LIBRARIES LIBRARIES
ur_hardware_interface ur_hardware_interface
CATKIN_DEPENDS CATKIN_DEPENDS
hardware_interface
industrial_msgs
controller_manager
actionlib actionlib
control_msgs control_msgs
controller_manager
geometry_msgs geometry_msgs
hardware_interface
industrial_msgs
roscpp roscpp
sensor_msgs sensor_msgs
trajectory_msgs trajectory_msgs
@@ -40,14 +41,14 @@ catkin_package(
# check c++11 / c++0x # check c++11 / c++0x
include(CheckCXXCompilerFlag) include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11) if(COMPILER_SUPPORTS_CXX11)
add_compile_options(-std=c++11) add_compile_options(-std=c++11)
elseif(COMPILER_SUPPORTS_CXX0X) elseif(COMPILER_SUPPORTS_CXX0X)
add_compile_options(-std=c++0x) add_compile_options(-std=c++0x)
else() 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 ") message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
endif() endif()
add_compile_options(-Wall) add_compile_options(-Wall)
@@ -56,7 +57,7 @@ add_compile_options(-Wno-unused-parameter)
# support indigo's ros_control - This can be removed upon EOL indigo # support indigo's ros_control - This can be removed upon EOL indigo
if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0") if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0")
add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL) add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
endif() endif()
include_directories( include_directories(
@@ -66,27 +67,27 @@ include_directories(
# Hardware Interface # Hardware Interface
add_library(ur_hardware_interface add_library(ur_hardware_interface
src/ros/hardware_interface.cpp src/ros/controller.cpp
src/ros/controller.cpp) src/ros/hardware_interface.cpp)
target_link_libraries(ur_hardware_interface ${catkin_LIBRARIES}) target_link_libraries(ur_hardware_interface ${catkin_LIBRARIES})
set(${PROJECT_NAME}_SOURCES set(${PROJECT_NAME}_SOURCES
src/ros/action_server.cpp src/ros/action_server.cpp
src/ros/lowbandwidth_trajectory_follower.cpp
src/ros/mb_publisher.cpp src/ros/mb_publisher.cpp
src/ros/rt_publisher.cpp src/ros/rt_publisher.cpp
src/ros/service_stopper.cpp src/ros/service_stopper.cpp
src/ros/trajectory_follower.cpp src/ros/trajectory_follower.cpp
src/ros/lowbandwidth_trajectory_follower.cpp
src/ros/urscript_handler.cpp src/ros/urscript_handler.cpp
src/ur/stream.cpp src/tcp_socket.cpp
src/ur/server.cpp
src/ur/commander.cpp src/ur/commander.cpp
src/ur/robot_mode.cpp
src/ur/master_board.cpp src/ur/master_board.cpp
src/ur/rt_state.cpp
src/ur/messages.cpp src/ur/messages.cpp
src/tcp_socket.cpp) src/ur/robot_mode.cpp
src/ur/rt_state.cpp
src/ur/server.cpp
src/ur/stream.cpp)
add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp) add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
@@ -96,7 +97,7 @@ target_link_libraries(ur_driver
) )
install(DIRECTORY launch config install(DIRECTORY config launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(TARGETS ur_driver ur_hardware_interface install(TARGETS ur_driver ur_hardware_interface
@@ -112,9 +113,9 @@ install(DIRECTORY include/${PROJECT_NAME}/
if (CATKIN_ENABLE_TESTING) if (CATKIN_ENABLE_TESTING)
set(${PROJECT_NAME}_TEST_SOURCES set(${PROJECT_NAME}_TEST_SOURCES
tests/ur/rt_state.cpp
tests/ur/master_board.cpp tests/ur/master_board.cpp
tests/ur/robot_mode.cpp) tests/ur/robot_mode.cpp
tests/ur/rt_state.cpp)
catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp) catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES}) target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES})