Merge branch 'feature/library' into 'master'

make repository usable as a library

See merge request ceti/ros-internal/panda_grasping!3

CMakeLists.txt

@@ -15,7 +15,8 @@ find_package(catkin REQUIRED
         moveit_core
         moveit_ros_planning_interface
         franka_gripper
-        message_generation)
+        message_generation
+        )
 
 ## Generate services in the 'srv' folder
 add_service_files(
@@ -40,6 +41,8 @@ catkin_package(CATKIN_DEPENDS
         moveit_visual_tools
         moveit_ros_planning_interface
         pluginlib
+        INCLUDE_DIRS include
+        LIBRARIES EnvironmentUtil GraspUtil FrankaGripperUtil
         )
 
 # ################################################################################################################################
@@ -47,11 +50,16 @@ catkin_package(CATKIN_DEPENDS
 # ################################################################################################################################
 
 # Specify additional locations of header files Your package locations should be listed before other locations
-include_directories(${catkin_INCLUDE_DIRS})
+## 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 src/grasping/environment_util.h)
-add_library(GraspUtil src/grasping/grasp_util.cpp src/grasping/grasp_util.h)
-add_library(FrankaGripperUtil src/grasping/franka_gripper_util.cpp src/grasping/franka_gripper_util.h)
+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)
 

src/grasping/franka_gripper_util.h → include/franka_gripper_util.h

@@ -8,6 +8,7 @@
 
 class FrankaGripperUtil {
 
+public:
     /**
     * resets the real robot, to allow correct future movements and grasps
     */