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Example.relast

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    • CMakeLists.txt 4.25 KiB 
    cmake_minimum_required(VERSION 3.5)
project(multi_cell_builder)
# C++ 11
add_compile_options(-std=c++17)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# 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
  actionlib_msgs

  gb_grasp
  moveit_grasps
  behaviortree_cpp_v3
)

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(base_routine src/base_routine.cpp 
src/impl/abstract_mediator.cpp
src/impl/base_by_rotation.cpp
src/impl/field_rviz_decorator.cpp
src/impl/map_loader.cpp
src/impl/mediator.cpp
src/impl/moveit_mediator.cpp
src/impl/robot.cpp
src/impl/wing_moveit_decorator.cpp
src/impl/wing_rviz_decorator.cpp
src/impl/collision_helper.cpp

src/reader/abstract_param_reader.cpp
src/reader/robot_reader.cpp
src/reader/wing_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp

src/bt/trajetory.cpp
src/bt/planning_scene.cpp
src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp


)

add_executable(cell_routine src/cell_routine.cpp
src/impl/map_loader.cpp
src/impl/abstract_mediator.cpp
src/impl/moveit_mediator.cpp
src/impl/wing_moveit_decorator.cpp
src/impl/robot.cpp

src/impl/mediator.cpp
src/impl/wing_moveit_decorator.cpp
src/impl/wing_rviz_decorator.cpp
src/impl/collision_helper.cpp

src/reader/abstract_param_reader.cpp
src/reader/robot_reader.cpp
src/reader/wing_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp

src/bt/trajetory.cpp
src/bt/planning_scene.cpp
src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp


)

add_executable(grasp_cell_routine src/grasp_cell_routine.cpp
src/impl/map_loader.cpp
src/impl/abstract_mediator.cpp
src/impl/moveit_mediator.cpp
src/impl/wing_moveit_decorator.cpp
src/impl/robot.cpp

src/impl/mediator.cpp
src/impl/wing_moveit_decorator.cpp
src/impl/wing_rviz_decorator.cpp
src/impl/collision_helper.cpp
src/impl/moveit_grasp_mediator.cpp

src/reader/abstract_param_reader.cpp
    src/reader/robot_reader.cpp
src/reader/wing_reader.cpp
src/reader/cuboid_reader.cpp
src/reader/job_reader.cpp


src/bt/trajetory.cpp
src/bt/planning_scene.cpp
src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.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

)


add_dependencies(base_routine ${base_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(grasp_cell_routine ${grasp_cell_routine_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})


target_link_libraries(base_routine 
  ${catkin_LIBRARIES}
  ${OCTOMAP_LIBRARIES}
  ${PCL_LIBRARY_DIRS}
  ${moveit_grasps_LIBRARIES}
  ${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(grasp_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}
  yaml-cpp
)