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  • johannes/feature/noetic
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  • CMakeLists.txt 6.13 KiB
    cmake_minimum_required(VERSION 3.0.2)
    project(multi_cell_builder)
    # C++ 11
    add_compile_options(-std=c++17)
    
    # Load catkin and all dependencies required for this package
    find_package(catkin REQUIRED COMPONENTS
      moveit_task_constructor_core
      moveit_task_constructor_visualization
      moveit_task_constructor_msgs
      eigen_conversions
      geometry_msgs
      message_generation
      moveit_core
      moveit_msgs
      moveit_ros_planning
      moveit_ros_planning_interface
      moveit_visual_tools
      roscpp
      roslint
      rosparam_shortcuts
      std_msgs
      tf
      tf_conversions
      trajectory_msgs
      pcl_ros
    
      gb_grasp
      moveit_grasps
      behaviortree_cpp_v3
    )
    
    find_package(rostest REQUIRED)
    find_package(yaml-cpp REQUIRED)
    find_package(Protobuf 3 REQUIRED)
    include_directories(${CMAKE_CURRENT_BINARY_DIR})
    
    
    # Catkin
    catkin_package(
      LIBRARIES
        ${Protobuf_LIBRARIES}
      CATKIN_DEPENDS
        moveit_ros_planning_interface
        moveit_grasps
      INCLUDE_DIRS
        ${CMAKE_CURRENT_BINARY_DIR}
        ${CMAKE_CURRENT_SOURCE_DIR}
        ${Protobuf_INCLUDE_DIRS}
        include
      DEPENDS
    )
    
    
    
    ###########
    ## Build ##
    ###########
    
    include_directories(
      include
      ${catkin_INCLUDE_DIRS}
      ${PCL_INCLUDE_DIR}
      ${CMAKE_CURRENT_BINARY_DIR}
      ${CMAKE_CURRENT_SOURCE_DIR}
    )
    
    protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS proto/connector.proto)
    
    add_executable(cell_routine src/cell_routine.cpp
    src/base_bridge/simple_base_implementation.cpp
    src/base_bridge/simple_base.cpp
    
    src/bt/execution.cpp
    src/bt/position_condition.cpp
    src/bt/parallel_robot.cpp
    
    src/mediator/abstract_mediator.cpp
    src/mediator/base_calculation_mediator.cpp
    src/mediator/moveit_mediator.cpp
    src/mediator/grasp_mediator.cpp
    
    src/reader/abstract_param_reader.cpp
    src/reader/cuboid_reader.cpp
    src/reader/job_reader.cpp
    src/reader/map_reader.cpp
    src/reader/robot_reader.cpp
    src/reader/task_space_reader.cpp
    src/reader/ts_reader.cpp
    src/reader/wing_reader.cpp
    
    src/robot/decorators/panda_decorator.cpp
    src/robot/decorators/ur5_decorator.cpp
    src/robot/decorators/ur10_decorator.cpp
    src/robot/abstract_robot.cpp
    src/robot/ceti_robot.cpp
    
    src/robot_element/decorators/abstract_robot_element_decorator.cpp
    src/robot_element/decorators/log_decorator.cpp
    src/robot_element/observers/moveit_panel.cpp
    src/robot_element/observers/panel.cpp
    src/robot_element/observers/rviz_panel.cpp
    )
    
    
    add_executable(robot_base_calculation_approach src/robot_base_calculation_approach.cpp
    src/base_bridge/simple_base_implementation.cpp
    src/base_bridge/simple_base.cpp
    
    src/bt/execution.cpp
    src/bt/position_condition.cpp
    src/bt/parallel_robot.cpp
    
    src/mediator/abstract_mediator.cpp
    src/mediator/base_calculation_mediator.cpp
    src/mediator/moveit_mediator.cpp
    src/mediator/grasp_mediator.cpp
    
    
    src/reader/abstract_param_reader.cpp
    src/reader/cuboid_reader.cpp
    src/reader/job_reader.cpp
    src/reader/map_reader.cpp
    src/reader/robot_reader.cpp
    src/reader/task_space_reader.cpp
    src/reader/ts_reader.cpp
    src/reader/wing_reader.cpp
    
    src/robot/decorators/panda_decorator.cpp
    src/robot/decorators/ur5_decorator.cpp
    src/robot/decorators/ur10_decorator.cpp
    src/robot/abstract_robot.cpp
    src/robot/ceti_robot.cpp
    
    src/robot_element/decorators/abstract_robot_element_decorator.cpp
    src/robot_element/decorators/log_decorator.cpp
    src/robot_element/observers/moveit_panel.cpp
    src/robot_element/observers/panel.cpp
    src/robot_element/observers/rviz_panel.cpp
    )
    
    add_executable(config_routine src/config_routine.cpp
    src/base_bridge/simple_base_implementation.cpp
    src/base_bridge/simple_base.cpp
    
    src/bt/execution.cpp
    src/bt/position_condition.cpp
    src/bt/parallel_robot.cpp
    
    src/mediator/abstract_mediator.cpp
    src/mediator/base_calculation_mediator.cpp
    src/mediator/moveit_mediator.cpp
    src/mediator/grasp_mediator.cpp
    
    
    src/reader/abstract_param_reader.cpp
    src/reader/cuboid_reader.cpp
    src/reader/job_reader.cpp
    src/reader/map_reader.cpp
    src/reader/robot_reader.cpp
    src/reader/task_space_reader.cpp
    src/reader/ts_reader.cpp
    src/reader/wing_reader.cpp
    
    src/robot/decorators/panda_decorator.cpp
    src/robot/decorators/ur5_decorator.cpp
    src/robot/decorators/ur10_decorator.cpp
    src/robot/abstract_robot.cpp
    src/robot/ceti_robot.cpp
    
    src/robot_element/decorators/abstract_robot_element_decorator.cpp
    src/robot_element/decorators/log_decorator.cpp
    src/robot_element/observers/moveit_panel.cpp
    src/robot_element/observers/panel.cpp
    src/robot_element/observers/rviz_panel.cpp
    )
    
    
    add_executable(mtc2taskspace src/mtc2taskspace.cpp
    src/reader/abstract_param_reader.cpp
    src/reader/task_space_reader.cpp
    src/reader/robot_reader.cpp
    src/reader/job_reader.cpp
    
    src/bt/execution.cpp
    src/bt/position_condition.cpp
    src/bt/parallel_robot.cpp
    
    )
    
    
    add_dependencies(config_routine ${config_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
    add_dependencies(cell_routine ${cell_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
    add_dependencies(mtc2taskspace ${mtc2taskspace_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
    add_dependencies(robot_base_calculation_approach ${robot_base_calculation_approach_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
    
    
    target_link_libraries(robot_base_calculation_approach 
      ${catkin_LIBRARIES}
      ${OCTOMAP_LIBRARIES}
      ${PCL_LIBRARY_DIRS}
      ${BEHAVIOR_TREE_LIBRARY}
      yaml-cpp
    )
    
    target_link_libraries(config_routine 
      ${catkin_LIBRARIES}
      ${OCTOMAP_LIBRARIES}
      ${PCL_LIBRARY_DIRS}
      ${BEHAVIOR_TREE_LIBRARY}
      yaml-cpp
    )
    
    target_link_libraries(cell_routine 
      ${catkin_LIBRARIES}
      ${OCTOMAP_LIBRARIES}
      ${PCL_LIBRARY_DIRS}
      ${moveit_grasps_LIBRARIES}
      ${BEHAVIOR_TREE_LIBRARY}
      yaml-cpp
    )
    
    
    target_link_libraries(mtc2taskspace 
      ${catkin_LIBRARIES}
      ${OCTOMAP_LIBRARIES}
      ${BEHAVIOR_TREE_LIBRARY}
      yaml-cpp
    )
    
    
    #### TEST ####
    
    catkin_add_gtest(reader-test launch/integration.test test/reader/test_reader.cpp 
    src/reader/abstract_param_reader.cpp
    src/reader/cuboid_reader.cpp
    src/reader/job_reader.cpp
    src/reader/map_reader.cpp
    src/reader/robot_reader.cpp
    src/reader/task_space_reader.cpp
    src/reader/ts_reader.cpp
    src/reader/wing_reader.cpp
    )
    
    catkin_add_gtest(bt-test launch/integration.test test/reader/test_bt.cpp 
    src/reader/abstract_param_reader.cpp
    src/bt/execution.cpp
    src/bt/position_condition.cpp
    src/bt/parallel_robot.cpp
    )
    target_link_libraries(reader-test ${catkin_LIBRARIES} yaml-cpp)
    target_link_libraries(bt-test ${catkin_LIBRARIES} ${BEHAVIOR_TREE_LIBRARY} yaml-cpp)