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    • CMakeLists.txt 14.08 KiB 
    cmake_minimum_required(VERSION 3.0.2)
project(ccf)

## compile as C++14
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
set(GCC_COVERAGE_COMPILE_FLAGS "-fpermissive")

## 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
        roscpp
        std_msgs
        geometry_msgs
        moveit_core
        moveit_ros_planning_interface
        message_generation
        panda_grasping
        )

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

find_package(Protobuf 3 REQUIRED)

include_directories(${CMAKE_CURRENT_BINARY_DIR})


# make sure NNG is updated in the submodule
execute_process(COMMAND git submodule update --init -- lib/nng
        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
add_subdirectory(lib/nng)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
        FILES
        PickPlace.msg
        PickDrop.msg
)

## Generate services in the 'srv' folder
    add_service_files(
        FILES
        SceneUpdate.srv
        BinCheck.srv
        PickDropService.srv
        PickPlaceService.srv
)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
        DEPENDENCIES
        std_msgs
        geometry_msgs
        shape_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
        CATKIN_DEPENDS message_runtime
        INCLUDE_DIRS include
        LIBRARIES
            ${PROJECT_NAME}_scene_constructor_util
            ${PROJECT_NAME}_grasp_util
            ${PROJECT_NAME}_scene_collision_object
            ${PROJECT_NAME}_dummy_controller
            ${PROJECT_NAME}_moveit_controller
            ${PROJECT_NAME}_nng_connection
            ${PROJECT_NAME}_mqtt_connection
        #  CATKIN_DEPENDS other_catkin_pkg
        #  DEPENDS system_lib
)

###########
## Build ##
###########
    
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        ${Protobuf_INCLUDE_DIRS}
        ${CMAKE_CURRENT_BINARY_DIR}
        ${CMAKE_CURRENT_SOURCE_DIR}
        lib/paho.mqtt.c/src
        lib/paho.mqtt.cpp/src
)

protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS proto/connector.proto)

find_package(PkgConfig REQUIRED)

add_subdirectory(lib/paho.mqtt.c ${CATKIN_DEVEL_PREFIX})

# for clion (on maybe catkin-make) change the C library location to
# ${CATKIN_DEVEL_PREFIX}/lib/libpaho-mqtt3a.so
# set(PAHO_MQTT_C_LIBRARIES "${CATKIN_DEVEL_PREFIX}/src/libpaho-mqtt3a.so")
set(PAHO_MQTT_C_LIBRARIES "${CATKIN_DEVEL_PREFIX}/lib/libpaho-mqtt3a.so")
set(PAHO_MQTT_C_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/lib/paho.mqtt.c/src")

add_subdirectory(lib/paho.mqtt.cpp)

add_dependencies(paho-mqttpp3 paho-mqtt3a)

## Declare a C++ library
add_library(${PROJECT_NAME}_dummy_controller ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/controller/DummyRobotArmController.cpp src/ccf/controller/RobotArmController.cpp src/ccf/controller/Controller.cpp)
add_library(${PROJECT_NAME}_moveit_controller ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/controller/MoveItRobotArmController.cpp src/ccf/controller/RobotArmController.cpp src/ccf/controller/Controller.cpp)
add_library(${PROJECT_NAME}_nng_connection ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/connection/NngConnection.cpp)
add_library(${PROJECT_NAME}_mqtt_connection ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/connection/MqttConnection.cpp)
add_library(${PROJECT_NAME}_scene_constructor_util ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/util/scene_constructor_util.cpp)
add_library(${PROJECT_NAME}_scene_collision_object src/ccf/util/scene_collision_object.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
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_dummy_controller  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_moveit_controller  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_nng_connection  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_mqtt_connection  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_scene_constructor_util  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_scene_collision_object  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_dummy_cgv src/dummies/dummy_cgv.cpp ${PROTO_SRCS} ${PROTO_HDRS})
add_executable(${PROJECT_NAME}_dummy_pick_place src/dummies/dummy_pick_place.cpp ${PROTO_SRCS} ${PROTO_HDRS})
add_executable(${PROJECT_NAME}_dummy_cgv_controller src/dummy_cgv_controller.cpp ${PROTO_SRCS} ${PROTO_HDRS} )
add_executable(${PROJECT_NAME}_dummy_rag_controller_a src/dummy_rag_controller_a.cpp ${PROTO_SRCS} ${PROTO_HDRS} )
add_executable(${PROJECT_NAME}_dummy_rag_controller_b src/dummy_rag_controller_b.cpp ${PROTO_SRCS} ${PROTO_HDRS} )
add_executable(${PROJECT_NAME}_moveit_cgv_controller src/moveit_cgv_controller.cpp ${PROTO_SRCS} ${PROTO_HDRS})
add_executable(${PROJECT_NAME}_scene_controller src/ccf/util/scene_controller_node.cpp ${PROTO_SRCS} ${PROTO_HDRS})

## 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(${PROJECT_NAME}_dummy_cgv PROPERTIES OUTPUT_NAME dummy_cgv PREFIX "")
set_target_properties(${PROJECT_NAME}_dummy_pick_place PROPERTIES OUTPUT_NAME dummy_pick_place PREFIX "")
set_target_properties(${PROJECT_NAME}_dummy_cgv_controller PROPERTIES OUTPUT_NAME dummy_cgv_controller PREFIX "")
set_target_properties(${PROJECT_NAME}_dummy_rag_controller_a PROPERTIES OUTPUT_NAME dummy_rag_controller_a PREFIX "")
set_target_properties(${PROJECT_NAME}_dummy_rag_controller_b PROPERTIES OUTPUT_NAME dummy_rag_controller_b PREFIX "")
set_target_properties(${PROJECT_NAME}_moveit_cgv_controller PROPERTIES OUTPUT_NAME moveit_cgv_controller PREFIX "")
set_target_properties(${PROJECT_NAME}_scene_controller PROPERTIES OUTPUT_NAME scene_controller PREFIX "")
    
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_dummy_cgv ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_dummy_pick_place ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_dummy_cgv_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_dummy_rag_controller_a ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_dummy_rag_controller_b ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_moveit_cgv_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_scene_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against

target_link_libraries(${PROJECT_NAME}_nng_connection
        ${catkin_LIBRARIES}
        nng
        )
target_link_libraries(${PROJECT_NAME}_mqtt_connection
        ${catkin_LIBRARIES}
        paho-mqttpp3
        )
target_link_libraries(${PROJECT_NAME}_dummy_controller
        ${catkin_LIBRARIES}
        ${Protobuf_LIBRARIES}
        )
target_link_libraries(${PROJECT_NAME}_moveit_controller
        ${catkin_LIBRARIES}
        ${Protobuf_LIBRARIES}
        )
target_link_libraries(${PROJECT_NAME}_dummy_cgv
        ${catkin_LIBRARIES}
        nng
        ${Protobuf_LIBRARIES}
        )
target_link_libraries(${PROJECT_NAME}_dummy_pick_place
        ${catkin_LIBRARIES}
        nng
        ${Protobuf_LIBRARIES}
        )
target_link_libraries(${PROJECT_NAME}_dummy_cgv_controller
        ${catkin_LIBRARIES}
        ${Protobuf_LIBRARIES}
        ${PROJECT_NAME}_dummy_controller
        ${PROJECT_NAME}_nng_connection
        )
target_link_libraries(${PROJECT_NAME}_dummy_rag_controller_a
        ${catkin_LIBRARIES}
        ${Protobuf_LIBRARIES}
        ${PROJECT_NAME}_dummy_controller
        ${PROJECT_NAME}_nng_connection
        ${PROJECT_NAME}_mqtt_connection
        )
target_link_libraries(${PROJECT_NAME}_dummy_rag_controller_b
        ${catkin_LIBRARIES}
        ${Protobuf_LIBRARIES}
        ${PROJECT_NAME}_dummy_controller
        ${PROJECT_NAME}_mqtt_connection
        )
target_link_libraries(${PROJECT_NAME}_moveit_cgv_controller
        ${catkin_LIBRARIES}
        ${Protobuf_LIBRARIES}
        ${PROJECT_NAME}_moveit_controller
        ${PROJECT_NAME}_nng_connection
        )
target_link_libraries(${PROJECT_NAME}_scene_collision_object
        ${catkin_LIBRARIES}
        )
target_link_libraries(${PROJECT_NAME}_scene_constructor_util
        ${catkin_LIBRARIES}
            ${Protobuf_LIBRARIES}
        ${PROJECT_NAME}_scene_collision_object
        )
target_link_libraries(${PROJECT_NAME}_scene_controller
        ${catkin_LIBRARIES}
        ${Protobuf_LIBRARIES}
        ${PROJECT_NAME}_scene_constructor_util
        ${PROJECT_NAME}_scene_collision_object
        )

#############
## 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
# install(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_ccf.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)