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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(adaptive_grasp_controller)
add_definitions(-std=c++11)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_BUILD_TYPE Debug)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
rviz
rviz_visual_tools
message_generation
actionlib_msgs
geometry_msgs
actionlib
sensor_msgs
tf
tf_conversions
moveit_msgs
moveit_ros_planning
moveit_ros_planning_interface
interactive_markers
visualization_msgs
moveit_core
)
add_service_files(FILES
adaptive_controller.srv
)
generate_messages(DEPENDENCIES
std_msgs
tf
)
find_package(SDFormat REQUIRED)
catkin_package(
CATKIN_DEPENDS actionlib_msgs moveit_ros_planning_interface message_runtime
LIBRARIES moveit_ros_planning_interface sdformat
)
include_directories(include ${catkin_INCLUDE_DIRS} /usr/include/eigen3 ${SDFormat_INCLUDE_DIRS})
link_directories(${SDFormat_LIBRARY_DIRS})
add_executable(adaptive_grasp_controller src/AdaptiveGraspController.cpp)
add_dependencies(adaptive_grasp_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(adaptive_grasp_controller ${catkin_LIBRARIES} ${ROS_LIBRARIES})
add_executable(publish_touch_demo_node src/PublishTouchDemo.cpp)
target_link_libraries(publish_touch_demo_node ${catkin_LIBRARIES} ${ROS_LIBRARIES})
add_executable(sdf_to_planning_scene_node src/SdfToPlanningScene.cpp)
target_link_libraries(sdf_to_planning_scene_node ${catkin_LIBRARIES} ${ROS_LIBRARIES} ${SDFormat_LIBRARIES})