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CMakeLists.txt 8.29 KiB 
cmake_minimum_required(VERSION 3.0.2)
project(multi_cell_builder)
# C++ 11
add_compile_options(-std=c++17)

# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
  moveit_task_constructor_core
  moveit_task_constructor_visualization
  moveit_task_constructor_msgs
  eigen_conversions
  geometry_msgs
  message_generation
  moveit_core
  moveit_msgs
  moveit_ros_planning
  moveit_ros_planning_interface
  moveit_visual_tools
  roscpp
  roslint
  rosparam_shortcuts
  std_msgs
  tf
  tf_conversions
  trajectory_msgs
  pcl_ros

  gb_grasp
  moveit_grasps
  behaviortree_cpp_v3
)

find_package(rostest REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(Protobuf 3 REQUIRED)
include_directories(${CMAKE_CURRENT_BINARY_DIR})


# Catkin
catkin_package(
  LIBRARIES
    ${Protobuf_LIBRARIES}
  CATKIN_DEPENDS
    moveit_ros_planning_interface
    moveit_grasps
  INCLUDE_DIRS
    ${CMAKE_CURRENT_BINARY_DIR}
    ${CMAKE_CURRENT_SOURCE_DIR}
    ${Protobuf_INCLUDE_DIRS}
    include
  DEPENDS
)



###########
## Build ##
###########

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIR}
  ${CMAKE_CURRENT_BINARY_DIR}
  ${CMAKE_CURRENT_SOURCE_DIR}
)

protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS proto/connector.proto)

add_executable(cell_routine src/cell_routine.cpp
src/base_bridge/simple_base_implementation.cpp
src/base_bridge/simple_base.cpp

src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp

src/mediator/abstract_mediator.cpp
src/mediator/base_calculation_mediator.cpp
src/mediator/moveit_mediator.cpp
src/mediator/grasp_mediator.cpp

src/reader/abstract_param_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
src/reader/map_reader.cpp
src/reader/robot_reader.cpp
src/reader/task_space_reader.cpp
src/reader/ts_reader.cpp
src/reader/wing_reader.cpp

src/robot/decorators/panda_decorator.cpp
src/robot/decorators/ur5_decorator.cpp
src/robot/decorators/ur10_decorator.cpp
src/robot/abstract_robot.cpp
src/robot/ceti_robot.cpp

src/robot_element/decorators/abstract_robot_element_decorator.cpp
src/robot_element/decorators/log_decorator.cpp
src/robot_element/observers/moveit_panel.cpp
src/robot_element/observers/panel.cpp
src/robot_element/observers/rviz_panel.cpp
)


add_executable(robot_base_calculation_approach src/robot_base_calculation_approach.cpp
src/base_bridge/simple_base_implementation.cpp
src/base_bridge/simple_base.cpp

src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp

src/mediator/abstract_mediator.cpp
src/mediator/base_calculation_mediator.cpp
src/mediator/moveit_mediator.cpp
src/mediator/grasp_mediator.cpp


src/reader/abstract_param_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
src/reader/map_reader.cpp
src/reader/robot_reader.cpp
src/reader/task_space_reader.cpp
src/reader/ts_reader.cpp
src/reader/wing_reader.cpp

src/robot/decorators/panda_decorator.cpp
src/robot/decorators/ur5_decorator.cpp
src/robot/decorators/ur10_decorator.cpp
src/robot/abstract_robot.cpp
src/robot/ceti_robot.cpp

src/robot_element/decorators/abstract_robot_element_decorator.cpp
src/robot_element/decorators/log_decorator.cpp
src/robot_element/observers/moveit_panel.cpp
src/robot_element/observers/panel.cpp
src/robot_element/observers/rviz_panel.cpp
)

add_executable(config_routine src/config_routine.cpp
src/base_bridge/simple_base_implementation.cpp
src/base_bridge/simple_base.cpp

src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp

src/mediator/abstract_mediator.cpp
src/mediator/base_calculation_mediator.cpp
src/mediator/moveit_mediator.cpp
src/mediator/grasp_mediator.cpp


src/reader/abstract_param_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
src/reader/map_reader.cpp
src/reader/robot_reader.cpp
src/reader/task_space_reader.cpp
src/reader/ts_reader.cpp
src/reader/wing_reader.cpp

src/robot/decorators/panda_decorator.cpp
src/robot/decorators/ur5_decorator.cpp
src/robot/decorators/ur10_decorator.cpp
src/robot/abstract_robot.cpp
src/robot/ceti_robot.cpp

src/robot_element/decorators/abstract_robot_element_decorator.cpp
src/robot_element/decorators/log_decorator.cpp
src/robot_element/observers/moveit_panel.cpp
src/robot_element/observers/panel.cpp
src/robot_element/observers/rviz_panel.cpp
)


add_executable(mtc2taskspace src/mtc2taskspace.cpp
src/reader/abstract_param_reader.cpp
src/reader/task_space_reader.cpp
src/reader/robot_reader.cpp
src/reader/job_reader.cpp

src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp

)


add_dependencies(config_routine ${config_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(cell_routine ${cell_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(mtc2taskspace ${mtc2taskspace_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(robot_base_calculation_approach ${robot_base_calculation_approach_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})


target_link_libraries(robot_base_calculation_approach 
  ${catkin_LIBRARIES}
  ${OCTOMAP_LIBRARIES}
  ${PCL_LIBRARY_DIRS}
  ${BEHAVIOR_TREE_LIBRARY}
  yaml-cpp
)

target_link_libraries(config_routine 
  ${catkin_LIBRARIES}
  ${OCTOMAP_LIBRARIES}
  ${PCL_LIBRARY_DIRS}
  ${BEHAVIOR_TREE_LIBRARY}
  yaml-cpp
)

target_link_libraries(cell_routine 
  ${catkin_LIBRARIES}
  ${OCTOMAP_LIBRARIES}
  ${PCL_LIBRARY_DIRS}
  ${moveit_grasps_LIBRARIES}
  ${BEHAVIOR_TREE_LIBRARY}
  yaml-cpp
)


target_link_libraries(mtc2taskspace 
  ${catkin_LIBRARIES}
  ${OCTOMAP_LIBRARIES}
  ${BEHAVIOR_TREE_LIBRARY}
  yaml-cpp
)


#### TEST ####

catkin_add_gtest(reader-test launch/integration.test test/reader/test_reader.cpp 
src/reader/abstract_param_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
src/reader/map_reader.cpp
src/reader/robot_reader.cpp
src/reader/task_space_reader.cpp
src/reader/ts_reader.cpp
src/reader/wing_reader.cpp
)

catkin_add_gtest(bt-test launch/integration.test test/reader/test_bt.cpp 
src/reader/abstract_param_reader.cpp
src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp
)

catkin_add_gtest(base-test launch/integration.test test/mediator/test_base.cpp 
src/base_bridge/simple_base_implementation.cpp
src/base_bridge/simple_base.cpp

src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp

src/mediator/abstract_mediator.cpp
src/mediator/base_calculation_mediator.cpp
src/mediator/moveit_mediator.cpp
src/mediator/grasp_mediator.cpp


src/reader/abstract_param_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
src/reader/map_reader.cpp
src/reader/robot_reader.cpp
src/reader/task_space_reader.cpp
src/reader/ts_reader.cpp
src/reader/wing_reader.cpp

src/robot/decorators/panda_decorator.cpp
src/robot/decorators/ur5_decorator.cpp
src/robot/decorators/ur10_decorator.cpp
src/robot/abstract_robot.cpp
src/robot/ceti_robot.cpp

src/robot_element/decorators/abstract_robot_element_decorator.cpp
src/robot_element/decorators/log_decorator.cpp
src/robot_element/observers/moveit_panel.cpp
src/robot_element/observers/panel.cpp
src/robot_element/observers/rviz_panel.cpp
)

catkin_add_gtest(grasp-test launch/integration.test test/mediator/test_grasp.cpp 
src/base_bridge/simple_base_implementation.cpp
src/base_bridge/simple_base.cpp

src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp

src/mediator/abstract_mediator.cpp
src/mediator/base_calculation_mediator.cpp
src/mediator/moveit_mediator.cpp
src/mediator/grasp_mediator.cpp


src/reader/abstract_param_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp
src/reader/map_reader.cpp
src/reader/robot_reader.cpp
src/reader/task_space_reader.cpp
src/reader/ts_reader.cpp
src/reader/wing_reader.cpp

src/robot/decorators/panda_decorator.cpp
src/robot/decorators/ur5_decorator.cpp
src/robot/decorators/ur10_decorator.cpp
src/robot/abstract_robot.cpp
src/robot/ceti_robot.cpp

src/robot_element/decorators/abstract_robot_element_decorator.cpp
src/robot_element/decorators/log_decorator.cpp
src/robot_element/observers/moveit_panel.cpp
src/robot_element/observers/panel.cpp
src/robot_element/observers/rviz_panel.cpp
)

target_link_libraries(grasp-test ${catkin_LIBRARIES} yaml-cpp)
target_link_libraries(reader-test ${catkin_LIBRARIES} yaml-cpp)
target_link_libraries(bt-test ${catkin_LIBRARIES} ${BEHAVIOR_TREE_LIBRARY} yaml-cpp)
target_link_libraries(base-test ${catkin_LIBRARIES} ${BEHAVIOR_TREE_LIBRARY} yaml-cpp)