CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(panda_simulation)

# Compile as C++11, supported in ROS Kinetic and newer
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 controller_manager
                        effort_controllers
                        gazebo_ros
                        joint_state_controller
                        joint_state_publisher
                        joint_trajectory_controller
                        robot_state_publisher
                        roscpp
                        std_msgs
                        tf
                        xacro
                        moveit_core
                        moveit_visual_tools
                        moveit_ros_planning
                        moveit_ros_planning_interface
                        controller_interface
                        hardware_interface)

# System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS filesystem)

# ################################################################################################################################
# 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
               controller_interface
               hardware_interface
               pluginlib
#       DEPENDS
#              system_lib
        )

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

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

## Declare C++ executables
add_executable(${PROJECT_NAME}_robot_state_initializer_node src/robot_state_initializer.cpp)

## Declare C++ libraries
add_library(${PROJECT_NAME}_controllers_lib src/joint_position_controller.cpp)


## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure


## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(${PROJECT_NAME}_robot_state_initializer_node PROPERTIES OUTPUT_NAME robot_state_initializer_node PREFIX "")


# Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_controllers_lib ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_robot_state_initializer_node ${catkin_LIBRARIES})

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

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

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_gazebo_zones.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)