-
Notifications
You must be signed in to change notification settings - Fork 99
/
CMakeLists.txt
164 lines (141 loc) · 5.37 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
cmake_minimum_required(VERSION 3.16)
project(control_toolbox LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-Werror=return-type -Werror=shadow -Werror=format)
endif()
if(WIN32)
# Enable Math Constants
# https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
add_compile_definitions(
_USE_MATH_DEFINES
)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
control_msgs
rclcpp
rcutils
realtime_tools
)
find_package(ament_cmake REQUIRED)
foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()
add_library(control_toolbox SHARED
src/dither.cpp
src/limited_proxy.cpp
src/pid_ros.cpp
src/pid.cpp
src/sine_sweep.cpp
src/sinusoid.cpp
)
target_compile_features(control_toolbox PUBLIC cxx_std_17)
target_include_directories(control_toolbox PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/control_toolbox>
)
ament_target_dependencies(control_toolbox PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_compile_definitions(control_toolbox PRIVATE "CONTROL_TOOLBOX_BUILDING_LIBRARY")
########################
# Build control filters
########################
set(CONTROL_FILTERS_INCLUDE_DEPENDS
filters
rclcpp
generate_parameter_library
pluginlib
geometry_msgs
)
foreach(Dependency IN ITEMS ${CONTROL_FILTERS_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()
find_package(Eigen3 REQUIRED NO_MODULE)
generate_parameter_library(
low_pass_filter_parameters
src/control_filters/low_pass_filter_parameters.yaml
)
add_library(low_pass_filter SHARED
src/control_filters/low_pass_filter.cpp
)
target_compile_features(low_pass_filter PUBLIC cxx_std_17)
target_include_directories(low_pass_filter PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
$<INSTALL_INTERFACE:include/control_toolbox>
)
target_link_libraries(low_pass_filter PUBLIC
low_pass_filter_parameters
Eigen3::Eigen
)
ament_target_dependencies(low_pass_filter PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPENDS})
generate_parameter_library(
rate_limiter_parameters
src/control_filters/rate_limiter_parameters.yaml
include/control_filters/custom_validators.hpp
)
add_library(rate_limiter SHARED
src/control_filters/rate_limiter.cpp
)
target_compile_features(rate_limiter PUBLIC cxx_std_17)
target_include_directories(rate_limiter PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
$<INSTALL_INTERFACE:include/control_toolbox>
)
target_link_libraries(rate_limiter PUBLIC
rate_limiter_parameters
Eigen3::Eigen
)
ament_target_dependencies(rate_limiter PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPENDS})
# Install pluginlib xml
pluginlib_export_plugin_description_file(filters control_filters.xml)
##########
# Testing
##########
if(BUILD_TESTING)
find_package(ament_cmake_gmock REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
ament_add_gmock(pid_tests test/pid_tests.cpp)
target_link_libraries(pid_tests control_toolbox)
ament_add_gmock(rate_limiter_tests test/rate_limiter.cpp)
target_link_libraries(rate_limiter_tests control_toolbox)
ament_add_gtest(pid_parameters_tests test/pid_parameters_tests.cpp)
target_link_libraries(pid_parameters_tests control_toolbox)
ament_add_gtest(pid_publisher_tests test/pid_publisher_tests.cpp)
target_link_libraries(pid_publisher_tests control_toolbox)
ament_target_dependencies(pid_publisher_tests rclcpp_lifecycle)
## Control Filters
add_rostest_with_parameters_gmock(test_low_pass_filter test/control_filters/test_low_pass_filter.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/control_filters/test_low_pass_filter_parameters.yaml
)
target_link_libraries(test_low_pass_filter low_pass_filter low_pass_filter_parameters)
ament_target_dependencies(test_low_pass_filter ${CONTROL_FILTERS_INCLUDE_DEPENDS})
ament_add_gmock(test_load_low_pass_filter test/control_filters/test_load_low_pass_filter.cpp)
target_link_libraries(test_load_low_pass_filter low_pass_filter low_pass_filter_parameters)
ament_target_dependencies(test_load_low_pass_filter ${CONTROL_FILTERS_INCLUDE_DEPENDS})
add_rostest_with_parameters_gmock(test_rate_limiter test/control_filters/test_rate_limiter.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/control_filters/test_rate_limiter_parameters.yaml
)
target_link_libraries(test_rate_limiter rate_limiter rate_limiter_parameters)
ament_target_dependencies(test_rate_limiter ${CONTROL_FILTERS_INCLUDE_DEPENDS})
ament_add_gmock(test_load_rate_limiter test/control_filters/test_load_rate_limiter.cpp)
target_link_libraries(test_load_rate_limiter rate_limiter rate_limiter_parameters)
ament_target_dependencies(test_load_rate_limiter ${CONTROL_FILTERS_INCLUDE_DEPENDS})
endif()
# Install
install(
DIRECTORY include/
DESTINATION include/control_toolbox
)
install(TARGETS control_toolbox
low_pass_filter low_pass_filter_parameters
rate_limiter rate_limiter_parameters
EXPORT export_control_toolbox
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_export_targets(export_control_toolbox HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} ${CONTROL_FILTERS_INCLUDE_DEPENDS})
ament_package()