Obbart/universal_robots_ros_driver
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added first version of calibration

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This commit is contained in:
Felix Mauch
2019-01-10 16:28:45 +01:00
parent 5bbeae1c8f
commit d2eb7a8683
5 changed files with 612 additions and 4 deletions
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30
CMakeLists.txt
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@@ -13,17 +13,21 @@ find_package(catkin REQUIRED
actionlib
control_msgs
controller_manager
eigen_conversions
geometry_msgs
hardware_interface
kdl_parser
industrial_msgs
roscpp
sensor_msgs
std_srvs
tf
tf_conversions
trajectory_msgs
ur_msgs
)
find_package(Boost REQUIRED)
find_package(Eigen3 REQUIRED)
catkin_package(
INCLUDE_DIRS
@@ -34,13 +38,18 @@ catkin_package(
actionlib
control_msgs
controller_manager
eigen_conversions
geometry_msgs
hardware_interface
kdl_parser
industrial_msgs
roscpp
sensor_msgs
trajectory_msgs
ur_msgs
std_srvs
tf
tf_conversions
DEPENDS
Boost
)
@@ -67,6 +76,7 @@ include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
add_library(ur_rtde_driver
@@ -110,12 +120,19 @@ add_executable(plain_driver
target_link_libraries(plain_driver ${catkin_LIBRARIES} ur_rtde_driver)
add_dependencies(plain_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(TARGETS ur_rtde_driver ur_rtde_driver_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
add_executable(calibration_correction
src/calibration.cpp
src/calibration_correction.cpp
)
add_dependencies(calibration_correction ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(calibration_correction
${catkin_LIBRARIES}
yaml-cpp
)
install(DIRECTORY config launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
@@ -136,3 +153,8 @@ install(DIRECTORY include/${PROJECT_NAME}/
#catkin_add_gtest(ur_rtde_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
#target_link_libraries(ur_rtde_driver_test ur_rtde_driver ${catkin_LIBRARIES})
#endif()
install(TARGETS calibration_correction RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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})
install(FILES Apache-2.0_ur_modern_driver.txt DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/LICENSES)
install(FILES manifest.yaml rosdoc.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/doc)