diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt index ee310433cd3a694ab8714ce08ee98ff00a7764ea..00952fc159b85e8a33ee43ef2bd10cc1c2c1d6d5 100644 --- a/franka_control/CMakeLists.txt +++ b/franka_control/CMakeLists.txt @@ -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 ) diff --git a/franka_control/src/services.h b/franka_control/include/franka_control/services.h similarity index 100% rename from franka_control/src/services.h rename to franka_control/include/franka_control/services.h diff --git a/franka_control/src/franka_control_node.cpp b/franka_control/src/franka_control_node.cpp index f5f928ac36c9623cdeae7c5a666d121c07807c37..ebdb53486bd37c9e2fed7ec22477f9090ccff06d 100644 --- a/franka_control/src/franka_control_node.cpp +++ b/franka_control/src/franka_control_node.cpp @@ -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: diff --git a/franka_control/src/services.cpp b/franka_control/src/services.cpp index 8bd792289fce3045b4ae7fc8e6e4c0968c5b9568..8357dded9f1c0537e24da3f2ae3622d4365e93e1 100644 --- a/franka_control/src/services.cpp +++ b/franka_control/src/services.cpp @@ -1,4 +1,4 @@ -#include "services.h" +#include <franka_control/services.h> namespace franka_control {