mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-09 17:40:47 +02:00
134 lines
3.4 KiB
CMake
134 lines
3.4 KiB
CMake
cmake_minimum_required(VERSION 2.8.12)
|
|
project(ur_robot_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
|
|
tf2_geometry_msgs
|
|
tf2_msgs
|
|
trajectory_msgs
|
|
ur_controllers
|
|
ur_msgs
|
|
)
|
|
find_package(Boost REQUIRED)
|
|
|
|
catkin_package(
|
|
INCLUDE_DIRS
|
|
include
|
|
LIBRARIES
|
|
ur_robot_driver
|
|
CATKIN_DEPENDS
|
|
actionlib
|
|
control_msgs
|
|
controller_manager
|
|
geometry_msgs
|
|
hardware_interface
|
|
industrial_msgs
|
|
roscpp
|
|
sensor_msgs
|
|
tf
|
|
tf2_geometry_msgs
|
|
tf2_msgs
|
|
trajectory_msgs
|
|
ur_controllers
|
|
ur_msgs
|
|
std_srvs
|
|
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}
|
|
)
|
|
|
|
add_library(ur_robot_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/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
|
|
src/ur/calibration_checker.cpp
|
|
src/ur/tool_communication.cpp
|
|
src/rtde/rtde_writer.cpp
|
|
)
|
|
target_link_libraries(ur_robot_driver ${catkin_LIBRARIES})
|
|
add_dependencies(ur_robot_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
|
|
add_executable(ur_robot_driver_node
|
|
src/ros/hardware_interface.cpp
|
|
src/ros/hardware_interface_node.cpp
|
|
)
|
|
target_link_libraries(ur_robot_driver_node ${catkin_LIBRARIES} ur_robot_driver)
|
|
add_dependencies(ur_robot_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
|
|
|
|
install(TARGETS ur_robot_driver ur_robot_driver_node
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
install(PROGRAMS scripts/tool_communication
|
|
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
|
|
|
|
install(DIRECTORY config launch
|
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
|
|
|
|
|
|
install(DIRECTORY include/${PROJECT_NAME}/
|
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
|
FILES_MATCHING PATTERN "*.h"
|
|
)
|