CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(panda_simulation)

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
                        genmsg
                        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)
find_package(Protobuf 3 REQUIRED)

find_library(PahoMqtt3c libpaho-mqtt3c.so REQUIRED)
find_library(PahoMqtt3cs libpaho-mqtt3cs.so REQUIRED)
find_library(PahoMqtt3a libpaho-mqtt3a.so REQUIRED)
find_library(PahoMqtt3as libpaho-mqtt3as.so REQUIRED)
find_library(PahoMqttCpp libpaho-mqttpp3.so REQUIRED)

message("Lib PahoMqtt3c is at: ${PahoMqtt3c}")
message("Lib PahoMqtt3cs is at: ${PahoMqtt3cs}")
message("Lib PahoMqtt3a is at: ${PahoMqtt3a}")
message("Lib PahoMqtt3as is at: ${PahoMqtt3as}")
message("Lib PahoMqttCpp is at: ${PahoMqttCpp}")

find_package(PkgConfig REQUIRED)
pkg_check_modules(JSONCPP jsoncpp)
message(${JSONCPP_LIBRARIES})

# ################################################################################################################################
# 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})

# add custom controller as library
add_library(${PROJECT_NAME}_controllers_lib src/joint_position_controller.cpp)
add_library(linkstate src/linkstate.pb.cc src/linkstate.pb.h)

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

add_executable(robot_control_node src/robot_control_node.cpp)
add_executable(box_publisher_node src/box_publisher.cpp)
add_executable(robot_state_initializer_node src/robot_state_initializer.cpp)
add_executable(SafetyAwarePlanner src/SafetyAwarePlanner.cpp src/SafetyEnvironmentCreator.cpp)
add_executable(SampleConstraintPlanner src/SampleConstraintPlanner.cpp)
add_executable(RobotStateProvider src/RobotStateProvider.cpp src/mem_persistence.cpp)
add_executable(TimedCartesianPlanner src/TimedCartesianPlanner.cpp)
add_executable(MqttToRosNode src/MqttToRosNode.cpp)

target_link_libraries(robot_control_node ${catkin_LIBRARIES} boost_filesystem ${JSONCPP_LIBRARIES})
target_link_libraries(box_publisher_node ${catkin_LIBRARIES})
target_link_libraries(robot_state_initializer_node ${catkin_LIBRARIES})
target_link_libraries(SafetyAwarePlanner ${catkin_LIBRARIES})
target_link_libraries(SampleConstraintPlanner ${catkin_LIBRARIES} ${Boost_LIBRARIES})
target_link_libraries(RobotStateProvider LINK_PUBLIC
        ${catkin_LIBRARIES}
        ${PahoMqtt3c}
        ${PahoMqtt3cs}
        ${PahoMqtt3a}
        ${PahoMqtt3as}
        ${PahoMqttCpp}
        ${Protobuf_LIBRARIES}
        linkstate)
target_link_libraries(MqttToRosNode LINK_PUBLIC
        ${catkin_LIBRARIES}
        ${PahoMqtt3c}
        ${PahoMqtt3cs}
        ${PahoMqtt3a}
        ${PahoMqtt3as}
        ${PahoMqttCpp})
target_link_libraries(TimedCartesianPlanner ${catkin_LIBRARIES})