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Commit fe590aa7 authored by Florian Walch's avatar Florian Walch
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Add franka_control_services utility library.

parent 4ce1e190
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......@@ -44,7 +44,7 @@ generate_messages(DEPENDENCIES actionlib_msgs)
catkin_package(
INCLUDE_DIRS include
LIBRARIES franka_state_controller
LIBRARIES franka_state_controller franka_control_services
CATKIN_DEPENDS
actionlib
controller_interface
......@@ -60,6 +60,7 @@ catkin_package(
DEPENDS Franka
)
## franka_state_controller
add_library(franka_state_controller
src/franka_state_controller.cpp
)
......@@ -79,9 +80,29 @@ target_include_directories(franka_state_controller PUBLIC
include
)
## franka_control_services
add_library(franka_control_services
src/services.cpp
)
add_dependencies(franka_control_services
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(franka_control_services
${catkin_LIBRARIES}
Franka::Franka
)
target_include_directories(franka_control_services PUBLIC
${catkin_INCLUDE_DIRS}
include
)
## franka_control_node
add_executable(franka_control_node
src/franka_control_node.cpp
src/services.cpp
)
add_dependencies(franka_control_node
......@@ -91,6 +112,7 @@ add_dependencies(franka_control_node
target_link_libraries(franka_control_node
${catkin_LIBRARIES}
franka_control_services
Franka::Franka
)
......
......@@ -8,11 +8,11 @@
#include <controller_manager/controller_manager.h>
#include <franka/exception.h>
#include <franka/robot.h>
#include <franka_control/ErrorRecoveryAction.h>
#include <franka_hw/franka_hw.h>
#include <ros/ros.h>
#include "services.h"
#include <franka_control/ErrorRecoveryAction.h>
#include <franka_control/services.h>
class ServiceContainer {
public:
......
#include "services.h"
#include <franka_control/services.h>
namespace franka_control {
......
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