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Commit f1ac4675 authored by Sebastian Ebert's avatar Sebastian Ebert
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Merge branch 'feature/library' into 'master'

make repository usable as a library

See merge request ceti/ros-internal/panda_grasping!3
parents 56bafa5e 6868194d
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...@@ -15,7 +15,8 @@ find_package(catkin REQUIRED ...@@ -15,7 +15,8 @@ find_package(catkin REQUIRED
moveit_core moveit_core
moveit_ros_planning_interface moveit_ros_planning_interface
franka_gripper franka_gripper
message_generation) message_generation
)
## Generate services in the 'srv' folder ## Generate services in the 'srv' folder
add_service_files( add_service_files(
...@@ -40,6 +41,8 @@ catkin_package(CATKIN_DEPENDS ...@@ -40,6 +41,8 @@ catkin_package(CATKIN_DEPENDS
moveit_visual_tools moveit_visual_tools
moveit_ros_planning_interface moveit_ros_planning_interface
pluginlib pluginlib
INCLUDE_DIRS include
LIBRARIES EnvironmentUtil GraspUtil FrankaGripperUtil
) )
# ################################################################################################################################ # ################################################################################################################################
...@@ -47,11 +50,16 @@ catkin_package(CATKIN_DEPENDS ...@@ -47,11 +50,16 @@ catkin_package(CATKIN_DEPENDS
# ################################################################################################################################ # ################################################################################################################################
# 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(${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(EnvironmentUtil src/grasping/environment_util.cpp)
add_library(GraspUtil src/grasping/grasp_util.cpp src/grasping/grasp_util.h) add_library(GraspUtil src/grasping/grasp_util.cpp)
add_library(FrankaGripperUtil src/grasping/franka_gripper_util.cpp src/grasping/franka_gripper_util.h) add_library(FrankaGripperUtil src/grasping/franka_gripper_util.cpp)
add_executable(grasp_service src/grasping/grasp_service.cpp) add_executable(grasp_service src/grasping/grasp_service.cpp)
......
File moved
...@@ -8,6 +8,7 @@ ...@@ -8,6 +8,7 @@
class FrankaGripperUtil { class FrankaGripperUtil {
public:
/** /**
* resets the real robot, to allow correct future movements and grasps * resets the real robot, to allow correct future movements and grasps
*/ */
......
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