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Commit fe590aa7 authored by Florian Walch's avatar Florian Walch
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Add franka_control_services utility library.

parent 4ce1e190
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...@@ -44,7 +44,7 @@ generate_messages(DEPENDENCIES actionlib_msgs) ...@@ -44,7 +44,7 @@ generate_messages(DEPENDENCIES actionlib_msgs)
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
LIBRARIES franka_state_controller LIBRARIES franka_state_controller franka_control_services
CATKIN_DEPENDS CATKIN_DEPENDS
actionlib actionlib
controller_interface controller_interface
...@@ -60,6 +60,7 @@ catkin_package( ...@@ -60,6 +60,7 @@ catkin_package(
DEPENDS Franka DEPENDS Franka
) )
## franka_state_controller
add_library(franka_state_controller add_library(franka_state_controller
src/franka_state_controller.cpp src/franka_state_controller.cpp
) )
...@@ -79,9 +80,29 @@ target_include_directories(franka_state_controller PUBLIC ...@@ -79,9 +80,29 @@ target_include_directories(franka_state_controller PUBLIC
include include
) )
## franka_control_services
add_library(franka_control_services
src/services.cpp
)
add_dependencies(franka_control_services
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(franka_control_services
${catkin_LIBRARIES}
Franka::Franka
)
target_include_directories(franka_control_services PUBLIC
${catkin_INCLUDE_DIRS}
include
)
## franka_control_node
add_executable(franka_control_node add_executable(franka_control_node
src/franka_control_node.cpp src/franka_control_node.cpp
src/services.cpp
) )
add_dependencies(franka_control_node add_dependencies(franka_control_node
...@@ -91,6 +112,7 @@ add_dependencies(franka_control_node ...@@ -91,6 +112,7 @@ add_dependencies(franka_control_node
target_link_libraries(franka_control_node target_link_libraries(franka_control_node
${catkin_LIBRARIES} ${catkin_LIBRARIES}
franka_control_services
Franka::Franka Franka::Franka
) )
......
...@@ -8,11 +8,11 @@ ...@@ -8,11 +8,11 @@
#include <controller_manager/controller_manager.h> #include <controller_manager/controller_manager.h>
#include <franka/exception.h> #include <franka/exception.h>
#include <franka/robot.h> #include <franka/robot.h>
#include <franka_control/ErrorRecoveryAction.h>
#include <franka_hw/franka_hw.h> #include <franka_hw/franka_hw.h>
#include <ros/ros.h> #include <ros/ros.h>
#include "services.h" #include <franka_control/ErrorRecoveryAction.h>
#include <franka_control/services.h>
class ServiceContainer { class ServiceContainer {
public: public:
......
#include "services.h" #include <franka_control/services.h>
namespace franka_control { namespace franka_control {
......
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