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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(aubo_arm_usr)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
find_package(catkin REQUIRED COMPONENTS
apriltag_ros
geometry_msgs
message_generation
roscpp
rospy
sensor_msgs
std_msgs
tf
dh_hand_driver
moveit_msgs
moveit_ros_perception
trajectory_msgs
interactive_markers
moveit_core
moveit_visual_tools
moveit_ros_planning
moveit_ros_planning_interface
pluginlib
geometric_shapes
pcl_ros
pcl_conversions
rosbag
tf2_ros
tf2_eigen
tf2_geometry_msgs
ur_kinematics
find_cup_ros
)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED system filesystem date_time thread)
find_package(PkgConfig)
find_package(OpenCV REQUIRED)
add_service_files(
FILES
armmovemotion.srv
armshakehand.srv
armshakehead.srv
graspobj.srv
graspcube.srv
graspcup.srv
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
INCLUDE_DIRS
# include
LIBRARIES
aubo_arm_usr
# CATKIN_DEPENDS
apriltag_ros geometry_msgs roscpp rospy sensor_msgs std_msgs tf moveit_core moveit_ros_planning_interface message_runtime
DEPENDS OpenCV
)
include_directories(
include ${catkin_INCLUDE_DIRS}
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
add_executable(grasp_april_cube_steadily_demo src/grasp_april_cube_steadily.cpp)
target_link_libraries(grasp_april_cube_steadily_demo ${catkin_LIBRARIES})
add_executable(grasp_april_cube_once src/grasp_april_cube_once.cpp)
target_link_libraries(grasp_april_cube_once ${catkin_LIBRARIES})
add_executable(aubo_3D_struct src/aubo_3D_struct.cpp)
target_link_libraries(aubo_3D_struct ${catkin_LIBRARIES})
add_executable(aubo_motion src/aubo_motion.cpp)
target_link_libraries(aubo_motion ${catkin_LIBRARIES})
add_executable(grasp_cup src/grasp_cup.cpp)
target_link_libraries(grasp_cup ${catkin_LIBRARIES})
add_executable(gpd_ros_grasp src/gpd_grasp.cpp)
target_link_libraries(gpd_ros_grasp ${catkin_LIBRARIES})
catkin_install_python(PROGRAMS
scripts/moveit_fk_demo.py
scripts/moveit_ik_demo.py
scripts/moveit_cartesian_demo.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)