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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(franka_hardware)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
option(CHECK_TIDY "Adds clang-tidy tests" OFF)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(franka_msgs REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(Franka 0.13.2 REQUIRED)
find_package(rclcpp_components REQUIRED)
add_library(franka_hardware SHARED
src/franka_action_server.cpp
src/franka_hardware_interface.cpp
src/robot.cpp
src/franka_param_service_server.cpp
src/franka_executor.cpp
)
target_include_directories(
franka_hardware
PRIVATE
include
)
ament_target_dependencies(
franka_hardware
hardware_interface
Franka
pluginlib
rclcpp
rclcpp_action
franka_msgs
)
pluginlib_export_plugin_description_file(hardware_interface franka_hardware.xml)
install(
TARGETS franka_hardware
DESTINATION lib
)
install(
DIRECTORY include/
DESTINATION include
)
if(BUILD_TESTING)
find_package(ament_cmake_clang_format REQUIRED)
find_package(ament_cmake_copyright REQUIRED)
find_package(ament_cmake_cppcheck REQUIRED)
find_package(ament_cmake_flake8 REQUIRED)
find_package(ament_cmake_lint_cmake REQUIRED)
find_package(ament_cmake_pep257 REQUIRED)
find_package(ament_cmake_xmllint REQUIRED)
set(CPP_DIRECTORIES src include)
ament_clang_format(CONFIG_FILE ../.clang-format ${CPP_DIRECTORIES})
ament_copyright(${CPP_DIRECTORIES} package.xml)
ament_cppcheck(${CPP_DIRECTORIES})
ament_lint_cmake(CMakeLists.txt)
ament_flake8()
ament_pep257()
ament_xmllint()
add_subdirectory(test)
if(CHECK_TIDY)
find_package(ament_cmake_clang_tidy REQUIRED)
set(ament_cmake_clang_tidy_CONFIG_FILE ../.clang-tidy)
ament_clang_tidy(${CMAKE_BINARY_DIR})
endif()
endif()
ament_export_include_directories(
include
)
ament_export_libraries(
franka_hardware
)
ament_export_dependencies(
hardware_interface
pluginlib
rclcpp
)
ament_package()