From fe590aa7f4a565eb2b14be6ffa11de93b7c162e3 Mon Sep 17 00:00:00 2001 From: Florian Walch <florian.walch@franka.de> Date: Thu, 14 Sep 2017 10:32:33 +0200 Subject: [PATCH] Add franka_control_services utility library. --- franka_control/CMakeLists.txt | 26 +++++++++++++++++-- .../franka_control}/services.h | 0 franka_control/src/franka_control_node.cpp | 4 +-- franka_control/src/services.cpp | 2 +- 4 files changed, 27 insertions(+), 5 deletions(-) rename franka_control/{src => include/franka_control}/services.h (100%) diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt index ee31043..00952fc 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 f5f928a..ebdb534 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 8bd7922..8357dde 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 { -- GitLab