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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.4)
project(franka_bimanual_controllers)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(catkin REQUIRED COMPONENTS
controller_interface
dynamic_reconfigure
eigen_conversions
franka_hw
franka_gripper
geometry_msgs
hardware_interface
tf
tf_conversions
message_generation
pluginlib
realtime_tools
roscpp
rospy
)
find_package(Eigen3 REQUIRED)
find_package(Franka 0.7.0 REQUIRED)
add_message_files(FILES
JointTorqueComparison.msg
)
generate_messages()
generate_dynamic_reconfigure_options(
cfg/dual_arm_compliance_param.cfg
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES franka_bimanual_controllers
CATKIN_DEPENDS
controller_interface
dynamic_reconfigure
eigen_conversions
franka_hw
franka_gripper
geometry_msgs
hardware_interface
tf
tf_conversions
message_runtime
pluginlib
realtime_tools
roscpp
DEPENDS Franka
)
add_library(franka_bimanual_controllers
src/bimanual_cartesian_impedance_controller.cpp
)
add_dependencies(franka_bimanual_controllers
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
${PROJECT_NAME}_generate_messages_cpp
${PROJECT_NAME}_gencpp
${PROJECT_NAME}_gencfg
)
target_link_libraries(franka_bimanual_controllers PUBLIC
${Franka_LIBRARIES}
${catkin_LIBRARIES}
)
target_include_directories(franka_bimanual_controllers SYSTEM PUBLIC
${Franka_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
target_include_directories(franka_bimanual_controllers PUBLIC
include
)
add_executable(bilateral_control
src/bilateral_control.cpp
)
target_link_libraries(bilateral_control
${catkin_LIBRARIES}
franka_bimanual_controllers
)
## Installation
install(TARGETS franka_bimanual_controllers
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES franka_bimanual_controllers_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
## Tools
include(${CMAKE_CURRENT_LIST_DIR}/../cmake/ClangTools.cmake OPTIONAL
RESULT_VARIABLE CLANG_TOOLS
)
if(CLANG_TOOLS)
file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
file(GLOB_RECURSE HEADERS
${CMAKE_CURRENT_SOURCE_DIR}/include/*.h
${CMAKE_CURRENT_SOURCE_DIR}/src/*.h
)
add_format_target(franka_bimanual_controllers FILES ${SOURCES} ${HEADERS})
add_tidy_target(franka_bimanual_controllers
FILES ${SOURCES}
DEPENDS franka_bimanual_controllers
)
endif()