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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(youbot_driver)
find_package(catkin REQUIRED COMPONENTS roscpp rosconsole)
find_package(Boost REQUIRED COMPONENTS thread date_time filesystem system regex)
if(WIN32)
add_definitions(-D_USE_MATH_DEFINES) # get M_PI under Windows
add_definitions(-DWIN32_LEAN_AND_MEAN) # avoid inclusion of WinSock.h by windows.h, as we need WinSock2.h
add_definitions(-DNOMINMAX) # be able to use std::max, instead of windows defined functions
add_definitions(/wd4800) # disable warning: variable set to boolean value
# need WinPcap library, using own cmake find file
set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
find_package(WinPcap REQUIRED)
endif()
if(WIN32)
set(INCLUDE_DIRS
include
include/youbot_driver/soem/osal
include/youbot_driver/soem/osal/win32
include/youbot_driver/soem/oshw/win32
${WINPCAP_INCLUDE_DIRS}
)
else(WIN32)
set(INCLUDE_DIRS
include
include/youbot_driver/soem/osal
include/youbot_driver/soem/oshw/linux
)
endif(WIN32)
## Note exported include dirs for install in cmake/config.cmake
catkin_package(
INCLUDE_DIRS ${INCLUDE_DIRS}
LIBRARIES YouBotDriver soem rt
CATKIN_DEPENDS roscpp rosconsole
DEPENDS Boost
CFG_EXTRAS config.cmake
)
set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
include_directories(
${INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
link_directories(${catkin_LIBRARY_DIRS})
add_definitions(-DUSE_ROS_LOGGING)
########### CppUnit and tests ###########
find_package(CppUnit)
IF(CppUnit_FOUND)
message(STATUS "SUCCESSFUL: CPP_UNIT found")
add_subdirectory(src/testing)
ELSE(CppUnit_FOUND)
# MESSAGE(STATUS "WARNING: CPP_UNIT not found")
ENDIF (CppUnit_FOUND)
########### Doxygen ###########
#SET(DOXYFILE_LATEX "NO")
#SET(DOXYFILE_OUTPUT_DIR ${PROJECT_SOURCE_DIR}/doc)
#include(UseDoxygen)
########### Simple Open EtherCAT Master Library ###########
add_subdirectory(src/soem)
########### youBot display example application ###########
add_subdirectory(src/display)
set(YOUBOT_DRIVER_SRC
src/youbot/EthercatMaster.cpp
src/youbot/EthercatMasterWithThread.cpp
src/youbot/EthercatMasterWithoutThread.cpp
src/generic/Logger.cpp
src/generic/ConfigFile.cpp
src/generic/PidController.cpp
src/generic-joint/JointData.cpp
src/generic-joint/JointTrajectory.cpp
src/youbot/YouBotJoint.cpp
src/youbot/JointLimitMonitor.cpp
src/youbot/YouBotBase.cpp
src/youbot/YouBotManipulator.cpp
src/youbot/YouBotGripper.cpp
src/youbot/YouBotGripperBar.cpp
src/youbot/YouBotGripperParameter.cpp
src/youbot/DataTrace.cpp
src/youbot/GripperDataTrace.cpp
src/youbot/YouBotJointParameter.cpp
src/youbot/YouBotJointParameterReadOnly.cpp
src/youbot/YouBotJointParameterPasswordProtected.cpp
src/youbot/JointTrajectoryController.cpp
src/base-kinematic/FourSwedishWheelOmniBaseKinematic.cpp
src/base-kinematic/FourSwedishWheelOmniBaseKinematicConfiguration.cpp
)
add_library(YouBotDriver ${YOUBOT_DRIVER_SRC})
target_link_libraries(YouBotDriver soem ${catkin_LIBRARIES})
#install binary and lib
install(TARGETS YouBotDriver
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
#copy header files
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
#copy config files
install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#INSTALL(TARGETS YouBotDriver YouBotDriverShared RUNTIME DESTINATION bin LIBRARY DESTINATION lib ARCHIVE DESTINATION lib)
#ADD_EXECUTABLE(YouBot_test
# ${PROJECT_SOURCE_DIR}/Test_commutation.cpp
#)
#target_link_libraries(YouBot_test YouBotDriver)