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CMakeLists.txt 3.27 KiB 
cmake_minimum_required(VERSION 3.0.2)
project(panda_grasping)

add_compile_options(-std=c++14)
set(GCC_COVERAGE_COMPILE_FLAGS "-fpermissive")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GCC_COVERAGE_COMPILE_FLAGS} ${GAZEBO_CXX_FLAGS}")

# Find catkin macros and libraries if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) is used, also find other
# catkin packages
find_package(catkin REQUIRED
        COMPONENTS
        roscpp
        std_msgs
        tf2
        moveit_core
        moveit_ros_planning_interface
        franka_gripper
        message_generation
        )

## Generate services in the 'srv' folder
add_service_files(
        FILES
        PickObject.srv
        PlaceObject.srv
)

## Generate added messages and services with any dependencies listed here
generate_messages(
        DEPENDENCIES
        std_msgs
        geometry_msgs
)

# ################################################################################################################################
# catkin specific configuration ##
# ################################################################################################################################
# The catkin_package macro generates cmake config files for your package Declare things to be passed to dependent projects
catkin_package(CATKIN_DEPENDS
        moveit_core
        moveit_visual_tools
        moveit_ros_planning_interface
        pluginlib
        INCLUDE_DIRS include
        LIBRARIES EnvironmentUtil GraspUtil FrankaGripperUtil
        )

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

# Specify additional locations of header files Your package locations should be listed before other locations
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
        include
        ${catkin_INCLUDE_DIRS}
)

add_library(EnvironmentUtil src/grasping/environment_util.cpp)
add_library(GraspUtil src/grasping/grasp_util.cpp)
add_library(FrankaGripperUtil src/grasping/franka_gripper_util.cpp)

add_executable(grasp_service src/grasping/grasp_service.cpp)

target_link_libraries(EnvironmentUtil ${catkin_LIBRARIES})
target_link_libraries(GraspUtil ${catkin_LIBRARIES})
target_link_libraries(FrankaGripperUtil ${catkin_LIBRARIES})
target_link_libraries(grasp_service ${catkin_LIBRARIES} EnvironmentUtil GraspUtil)

add_dependencies(grasp_service panda_grasping_generate_messages_cpp)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries

if(CATKIN_ENABLE_TESTING)
    find_package(rostest REQUIRED)
    add_rostest_gtest(tests_grasping test/grasping.test test/test.cpp)
#    add_executable(tests_grasping test/test.cpp)
    target_link_libraries(tests_grasping ${catkin_LIBRARIES})
    add_dependencies(tests_grasping panda_grasping_generate_messages_cpp)
    add_rostest_gtest(tests_side_grasping test/side_grasping.test test/grasp_from_side_test.cpp)
    target_link_libraries(tests_side_grasping ${catkin_LIBRARIES} GraspUtil)
    add_dependencies(tests_side_grasping panda_grasping_generate_messages_cpp)
endif()