mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
129 lines
3.3 KiB
CMake
129 lines
3.3 KiB
CMake
cmake_minimum_required(VERSION 2.8.12)
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project(ur_rtde_driver)
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add_definitions( -DROS_BUILD )
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if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
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message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.")
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set(CMAKE_BUILD_TYPE RelWithDebInfo)
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endif()
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find_package(catkin REQUIRED
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COMPONENTS
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actionlib
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control_msgs
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controller_manager
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geometry_msgs
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hardware_interface
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industrial_msgs
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roscpp
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sensor_msgs
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std_srvs
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tf
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trajectory_msgs
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ur_msgs
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)
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find_package(Boost REQUIRED)
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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ur_rtde_driver
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CATKIN_DEPENDS
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actionlib
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control_msgs
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controller_manager
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geometry_msgs
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hardware_interface
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industrial_msgs
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roscpp
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sensor_msgs
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trajectory_msgs
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ur_msgs
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DEPENDS
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Boost
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)
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# check c++11 / c++0x
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include(CheckCXXCompilerFlag)
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check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
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check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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add_compile_options(-std=c++11)
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elseif(COMPILER_SUPPORTS_CXX0X)
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add_compile_options(-std=c++0x)
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else()
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message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
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endif()
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add_compile_options(-Wall)
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add_compile_options(-Wextra)
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add_compile_options(-Wno-unused-parameter)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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add_library(ur_rtde_driver
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src/comm/tcp_socket.cpp
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#src/ros/service_stopper.cpp
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#src/ur/commander.cpp
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#src/ur/master_board.cpp
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#src/ur/messages.cpp
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#src/ur/robot_mode.cpp
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#src/ur/rt_state.cpp
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#src/ur/server.cpp
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src/primary/primary_package.cpp
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src/primary/robot_message.cpp
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src/primary/robot_message/version_message.cpp
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src/primary/robot_state/kinematics_info.cpp
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src/rtde/control_package_pause.cpp
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src/rtde/control_package_setup_inputs.cpp
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src/rtde/control_package_setup_outputs.cpp
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src/rtde/control_package_start.cpp
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src/rtde/data_package.cpp
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src/rtde/get_urcontrol_version.cpp
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src/rtde/request_protocol_version.cpp
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src/rtde/rtde_package.cpp
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src/rtde/text_message.cpp
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)
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target_link_libraries(ur_rtde_driver ${catkin_LIBRARIES})
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add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(producer
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src/producer.cpp
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)
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target_link_libraries(producer ${catkin_LIBRARIES} ur_rtde_driver)
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add_dependencies(producer ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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install(TARGETS ur_rtde_driver
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY config launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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#if (CATKIN_ENABLE_TESTING)
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#set(${PROJECT_NAME}_TEST_SOURCES
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#tests/ur/master_board.cpp
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#tests/ur/robot_mode.cpp
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#tests/ur/rt_state.cpp)
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#catkin_add_gtest(ur_rtde_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
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#target_link_libraries(ur_rtde_driver_test ur_rtde_driver ${catkin_LIBRARIES})
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#endif()
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