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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(hiro_panda_ik)
set(CMAKE_BUILD_TYPE Release)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
kdl_parser
roscpp
rospy
sensor_msgs
std_msgs
moveit_ros_planning_interface
moveit_visual_tools
tf
trac_ik_lib
franka_control
franka_gripper
pluginlib
realtime_tools
controller_interface
dynamic_reconfigure
franka_hw
geometry_msgs
hardware_interface
message_generation
)
find_package(Eigen3 REQUIRED)
find_package(Franka 0.5.0 REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES hiro_panda_ik_controllers
CATKIN_DEPENDS
controller_interface
franka_control
hardware_interface
franka_hw
message_runtime
pluginlib
realtime_tools
roscpp
geometry_msgs
DEPENDS Franka
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${Franka_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
add_library(hiro_panda_ik_controllers
src/panda_utils/panda_trac_ik.cpp
src/panda_interface/panda_pose_controller.cpp
)
target_link_libraries(hiro_panda_ik_controllers PUBLIC
${Franka_LIBRARIES}
${catkin_LIBRARIES}
)
install(TARGETS hiro_panda_ik_controllers
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES panda_ik_controllers_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)