CMakeLists.txt

cmake_minimum_required(VERSION 3.5.0)
project(choreonoid_ros_control)

add_compile_options(-std=c++17)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  control_toolbox
  controller_manager
  hardware_interface
  transmission_interface
  pluginlib
  joint_limits_interface
  urdf
  angles
  choreonoid
  )

catkin_package(
  CATKIN_DEPENDS
  roscpp
  std_msgs
  controller_manager
  control_toolbox
  pluginlib
  hardware_interface
  transmission_interface
  joint_limits_interface
  urdf
  angles
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME} default_robot_hw_sim
  )

###########
## Build ##
###########
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${CHOREONOID_INCLUDE_DIRS}
  )

link_directories(
  ${CHOREONOID_LIBRARY_DIRS}
  )

add_library(${PROJECT_NAME} SHARED src/choreonoid_ros_control_plugin.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${CHOREONOID_BODY_LIBRARIES})

add_library(default_robot_hw_sim src/default_robot_hw_sim.cpp)
target_link_libraries(default_robot_hw_sim ${catkin_LIBRARIES} ${CHOREONOID_BODY_LIBRARIES})

#############
## Install ##
#############
set_target_properties(${PROJECT_NAME} PROPERTIES
  LIBRARY_OUTPUT_DIRECTORY ${CHOREONOID_PLUGIN_SUBDIR}/simplecontroller PREFIX "")
install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CHOREONOID_PLUGIN_SUBDIR}/simplecontroller)

install(TARGETS ${PROJECT_NAME} default_robot_hw_sim
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
  )

install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

install(FILES robot_hw_sim_plugins.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)