-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
61 lines (49 loc) · 1.96 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
cmake_minimum_required(VERSION 2.8.3)
project(sergio_hardware)
add_compile_options(-Wall -Werror=all)
add_compile_options(-Wextra -Werror=extra)
find_package(catkin REQUIRED COMPONENTS
rtt_ros
rtt_roscomm
rtt_rosclock
rtt_rosdeployment
rtt_rosnode
rtt_ros_msgs
std_msgs
soem_beckhoff_drivers
)
include_directories(
include
SYSTEM
${catkin_INCLUDE_DIRS}
${scl_filters_INCLUDE_DIRS}
${USE_OROCOS_INCLUDE_DIRS})
file(GLOB_RECURSE HEADER_FILES include/*.hpp)
orocos_install_headers(DIRECTORY
include)
orocos_generate_package(
INCLUDE_DIRS include
DEPENDS rtt_ros rtt_roscomm rtt_rosclock rtt_rosdeployment rtt_rosnode rtt_ros_msgs std_msgs
)
install(FILES
sergiohardware.launch
soem.ops
base_controller.ops
torso_controller_ffw.ops
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
### Specific hardware components for testing torso ###
#orocos_component(MotorTest src/MotorTest.cpp ${HEADER_FILES})
#orocos_component(RefGenerator src/RefGenerator.cpp ${HEADER_FILES})
#orocos_component(RefTrajectory src/RefTrajectory.cpp ${HEADER_FILES})
#target_link_libraries(MotorTest ${catkin_LIBRARIES} ${USE_OROCOS_LIBRARIES})
#target_link_libraries(RefGenerator ${catkin_LIBRARIES} ${USE_OROCOS_LIBRARIES})
#target_link_libraries(RefTrajectory ${catkin_LIBRARIES} ${USE_OROCOS_LIBRARIES})
### Custom feed forward component torso
orocos_component(TorsoFeedForward src/TorsoFeedForward.cpp ${HEADER_FILES})
target_link_libraries(TorsoFeedForward ${catkin_LIBRARIES} ${USE_OROCOS_LIBRARIES})
### Conversion between spindle length en joint angles of the torso ###
orocos_component(ConversionSpindleAngle src/ConversionSpindleAngle.cpp ${HEADER_FILES})
target_link_libraries(ConversionSpindleAngle ${catkin_LIBRARIES} ${USE_OROCOS_LIBRARIES})
### Conversion from encoder to spindle length (using caliphers) ###
orocos_component(InitCalipherToSpindle src/InitCalipherToSpindle.cpp ${HEADER_FILES})
target_link_libraries(InitCalipherToSpindle ${catkin_LIBRARIES} ${USE_OROCOS_LIBRARIES})