diff --git a/robotiq_2f_gripper_action_server/CMakeLists.txt b/robotiq_2f_gripper_action_server/CMakeLists.txt index 3afa78f6..431b94ce 100644 --- a/robotiq_2f_gripper_action_server/CMakeLists.txt +++ b/robotiq_2f_gripper_action_server/CMakeLists.txt @@ -4,65 +4,66 @@ project(robotiq_2f_gripper_action_server) find_package(catkin REQUIRED COMPONENTS actionlib actionlib_msgs + control_msgs message_generation robotiq_2f_gripper_control roscpp - control_msgs ) catkin_package( INCLUDE_DIRS include - CATKIN_DEPENDS actionlib actionlib_msgs robotiq_2f_gripper_control roscpp + CATKIN_DEPENDS actionlib actionlib_msgs control_msgs robotiq_2f_gripper_control roscpp ) include_directories(include) include_directories( ${catkin_INCLUDE_DIRS} - ${robotiq_2f_gripper_action_server_INCLUDE_DIRS} + ${${PROJECT_NAME}_INCLUDE_DIRS} ) # The action server -add_executable(robotiq_2f_gripper_action_server_node - src/robotiq_2f_gripper_action_server_node.cpp - src/robotiq_2f_gripper_action_server.cpp - include/robotiq_2f_gripper_action_server/robotiq_2f_gripper_action_server.h) +add_executable(${PROJECT_NAME}_node + include/${PROJECT_NAME}/${PROJECT_NAME}.h + src/${PROJECT_NAME}.cpp + src/${PROJECT_NAME}_node.cpp +) -add_dependencies(robotiq_2f_gripper_action_server_node - robotiq_2f_gripper_action_server_generate_messages_cpp - ${robotiq_2f_gripper_action_server_EXPORTED_TARGETS} +add_dependencies(${PROJECT_NAME}_node + ${PROJECT_NAME}_generate_messages_cpp + ${${PROJECT_NAME}_EXPORTED_TARGETS} ${robotiq_2f_gripper_control_EXPORTED_TARGETS}) - target_link_libraries(robotiq_2f_gripper_action_server_node - ${catkin_LIBRARIES} - ) +target_link_libraries(${PROJECT_NAME}_node + ${catkin_LIBRARIES} +) # The test server -add_executable(robotiq_2f_gripper_action_server_client_test - src/robotiq_2f_gripper_action_server_client_test.cpp +add_executable(${PROJECT_NAME}_client_test + src/${PROJECT_NAME}_client_test.cpp ) -add_dependencies(robotiq_2f_gripper_action_server_client_test - robotiq_2f_gripper_action_server_generate_messages_cpp +add_dependencies(${PROJECT_NAME}_client_test + ${PROJECT_NAME}_generate_messages_cpp ${robotiq_action_server_EXPORTED_TARGETS}) - target_link_libraries(robotiq_2f_gripper_action_server_client_test - ${catkin_LIBRARIES} - ) +target_link_libraries(${PROJECT_NAME}_client_test + ${catkin_LIBRARIES} +) -install(TARGETS robotiq_2f_gripper_action_server_node +install(TARGETS ${PROJECT_NAME}_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) +) - install(TARGETS robotiq_2f_gripper_action_server_client_test +install(TARGETS ${PROJECT_NAME}_client_test ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) +) install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h" - ) +) diff --git a/robotiq_2f_gripper_action_server/package.xml b/robotiq_2f_gripper_action_server/package.xml index c2021277..ba761b63 100644 --- a/robotiq_2f_gripper_action_server/package.xml +++ b/robotiq_2f_gripper_action_server/package.xml @@ -23,4 +23,6 @@ robotiq_2f_gripper_control roscpp + message_generation + diff --git a/robotiq_2f_gripper_control/CMakeLists.txt b/robotiq_2f_gripper_control/CMakeLists.txt index 8b994b25..bb5a2853 100644 --- a/robotiq_2f_gripper_control/CMakeLists.txt +++ b/robotiq_2f_gripper_control/CMakeLists.txt @@ -1,13 +1,12 @@ # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html cmake_minimum_required(VERSION 2.8.3) project(robotiq_2f_gripper_control) -find_package(catkin REQUIRED COMPONENTS robotiq_ethercat roscpp rospy message_generation) - +find_package(catkin REQUIRED COMPONENTS message_generation robotiq_ethercat roscpp rospy) #set the default path for built executables to the "bin" directory -set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) #set the default path for built libraries to the "lib" directory -set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) +#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) ################################### ## catkin message generation ## @@ -31,28 +30,27 @@ generate_messages() ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( - CATKIN_DEPENDS rospy message_runtime roscpp robotiq_ethercat - INCLUDE_DIRS include + INCLUDE_DIRS include + CATKIN_DEPENDS message_runtime robotiq_ethercat roscpp rospy + LIBRARIES ${robotiq_ethercat_LIBRARIES} ) -include_directories(include) include_directories( + include ${catkin_INCLUDE_DIRS} - ${robotiq_ethercat_INCLUDE_DIRS} ) add_executable(robotiq_2f_gripper_ethercat_node - src/robotiq_2f_gripper_control/robotiq_2f_gripper_ethercat_node.cpp - src/robotiq_2f_gripper_control/robotiq_2f_gripper_ethercat_client.cpp + src/${PROJECT_NAME}/robotiq_2f_gripper_ethercat_client.cpp + src/${PROJECT_NAME}/robotiq_2f_gripper_ethercat_node.cpp ) target_link_libraries(robotiq_2f_gripper_ethercat_node - ${robotiq_ethercat_LIBRARIES} - ${catkin_LIBRARIES} - + ${robotiq_ethercat_LIBRARIES} + ${catkin_LIBRARIES} ) -add_dependencies(robotiq_2f_gripper_ethercat_node robotiq_2f_gripper_control_generate_messages_cpp) +add_dependencies(robotiq_2f_gripper_ethercat_node ${PROJECT_NAME}_generate_messages_cpp) ############# ## Install ## @@ -61,6 +59,20 @@ add_dependencies(robotiq_2f_gripper_ethercat_node robotiq_2f_gripper_control_gen # all install targets should use catkin DESTINATION variables # See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html -install(PROGRAMS nodes/Robotiq2FGripperSimpleController.py nodes/Robotiq2FGripperStatusListener.py - nodes/Robotiq2FGripperTcpNode.py nodes/Robotiq2FGripperRtuNode.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install( + TARGETS robotiq_2f_gripper_ethercat_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(PROGRAMS nodes/Robotiq2FGripperRtuNode.py nodes/Robotiq2FGripperSimpleController.py nodes/Robotiq2FGripperStatusListener.py nodes/Robotiq2FGripperTcpNode.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +install(PROGRAMS src/${PROJECT_NAME}/robotiq_2f_gripper_ctrl.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/robotiq_2f_gripper_control/package.xml b/robotiq_2f_gripper_control/package.xml index c96204a9..604f074f 100644 --- a/robotiq_2f_gripper_control/package.xml +++ b/robotiq_2f_gripper_control/package.xml @@ -2,7 +2,7 @@ robotiq_2f_gripper_control 1.0.0 - Package to control a 2-Finger Gripper from Robotiq inc. +

Package to control a 2-Finger Gripper from Robotiq inc.

 Jean-Philippe Roberge BSD http://ros.org/wiki/robotiq diff --git a/robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt b/robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt index 7490a381..095fe35f 100644 --- a/robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt +++ b/robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(robotiq_3f_gripper_articulated_gazebo_plugins) add_compile_options(-std=c++11) -find_package(catkin REQUIRED COMPONENTS std_msgs gazebo_plugins actionlib tf image_transport control_msgs trajectory_msgs geometry_msgs sensor_msgs roscpp gazebo_ros robotiq_3f_gripper_articulated_msgs) +find_package(catkin REQUIRED COMPONENTS actionlib angles control_msgs gazebo_msgs gazebo_plugins gazebo_ros geometry_msgs image_transport message_generation robotiq_3f_gripper_articulated_msgs roscpp sensor_msgs std_msgs tf trajectory_msgs) find_package(gazebo REQUIRED) @@ -12,12 +12,12 @@ include_directories( ${GAZEBO_INCLUDE_DIRS} ) -link_directories( - ${GAZEBO_LIBRARY_DIRS} -) +#link_directories( +# ${GAZEBO_LIBRARY_DIRS} +#) catkin_package( - DEPENDS gazebo_plugins gazebo_ros robotiq_3f_gripper_articulated_msgs roscpp + CATKIN_DEPENDS control_msgs gazebo_msgs geometry_msgs robotiq_3f_gripper_articulated_msgs sensor_msgs std_msgs trajectory_msgs ) add_library(RobotiqHandPlugin src/RobotiqHandPlugin.cpp) diff --git a/robotiq_3f_gripper_articulated_gazebo_plugins/package.xml b/robotiq_3f_gripper_articulated_gazebo_plugins/package.xml index 3de27cc4..15b8149c 100644 --- a/robotiq_3f_gripper_articulated_gazebo_plugins/package.xml +++ b/robotiq_3f_gripper_articulated_gazebo_plugins/package.xml @@ -27,6 +27,7 @@ angles message_generation + gazebo message_runtime diff --git a/robotiq_3f_gripper_articulated_msgs/CMakeLists.txt b/robotiq_3f_gripper_articulated_msgs/CMakeLists.txt index 5026310b..8e8c8bd5 100644 --- a/robotiq_3f_gripper_articulated_msgs/CMakeLists.txt +++ b/robotiq_3f_gripper_articulated_msgs/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8.3) project(robotiq_3f_gripper_articulated_msgs) -find_package(catkin REQUIRED COMPONENTS std_msgs message_generation ) +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) add_message_files( FILES @@ -15,7 +15,5 @@ generate_messages( ) catkin_package( - DEPENDS std_msgs + CATKIN_DEPENDS message_runtime std_msgs ) - - diff --git a/robotiq_3f_gripper_articulated_msgs/package.xml b/robotiq_3f_gripper_articulated_msgs/package.xml index fc25aa6d..d730e828 100644 --- a/robotiq_3f_gripper_articulated_msgs/package.xml +++ b/robotiq_3f_gripper_articulated_msgs/package.xml @@ -13,7 +13,6 @@ std_msgs message_generation - message_runtime diff --git a/robotiq_3f_gripper_control/CMakeLists.txt b/robotiq_3f_gripper_control/CMakeLists.txt index 79baf9e4..ba35133c 100644 --- a/robotiq_3f_gripper_control/CMakeLists.txt +++ b/robotiq_3f_gripper_control/CMakeLists.txt @@ -6,12 +6,12 @@ find_package(catkin REQUIRED COMPONENTS diagnostic_updater dynamic_reconfigure hardware_interface + robotiq_3f_gripper_articulated_msgs robotiq_ethercat roscpp rospy socketcan_interface std_srvs - robotiq_3f_gripper_articulated_msgs ) find_package(PkgConfig) @@ -29,12 +29,12 @@ catkin_package( diagnostic_updater dynamic_reconfigure hardware_interface + robotiq_3f_gripper_articulated_msgs robotiq_ethercat roscpp rospy socketcan_interface std_srvs - robotiq_3f_gripper_articulated_msgs ) include_directories( @@ -68,8 +68,8 @@ target_link_libraries(robotiq_3f_gripper_ethercat_node ) add_executable(robotiq_3f_gripper_can_node - src/${PROJECT_NAME}/robotiq_3f_gripper_can_client.cpp src/robotiq_3f_gripper_can_node.cpp + src/${PROJECT_NAME}/robotiq_3f_gripper_can_client.cpp ) target_link_libraries(robotiq_3f_gripper_can_node @@ -80,7 +80,7 @@ target_link_libraries(robotiq_3f_gripper_can_node install(PROGRAMS nodes/Robotiq3FGripperSimpleController.py nodes/Robotiq3FGripperStatusListener.py nodes/Robotiq3FGripperTcpNode.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) -install(TARGETS ${PROJECT_NAME} robotiq_3f_gripper_can_node robotiq_3f_gripper_ethercat_node +install(TARGETS robotiq_3f_gripper_can_node ${PROJECT_NAME} robotiq_3f_gripper_ethercat_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/robotiq_3f_gripper_control/package.xml b/robotiq_3f_gripper_control/package.xml index 639ea9ab..b5304976 100644 --- a/robotiq_3f_gripper_control/package.xml +++ b/robotiq_3f_gripper_control/package.xml @@ -2,7 +2,7 @@ robotiq_3f_gripper_control 1.0.0 - Package to control a 3F gripper Gripper from Robotiq inc. + Package to control a 3F gripper Gripper from Robotiq inc. Jean-Philippe Roberge BSD http://ros.org/wiki/robotiq diff --git a/robotiq_3f_gripper_joint_state_publisher/CMakeLists.txt b/robotiq_3f_gripper_joint_state_publisher/CMakeLists.txt index 1449c931..90938ab3 100644 --- a/robotiq_3f_gripper_joint_state_publisher/CMakeLists.txt +++ b/robotiq_3f_gripper_joint_state_publisher/CMakeLists.txt @@ -2,12 +2,13 @@ cmake_minimum_required(VERSION 2.8.3) project(robotiq_3f_gripper_joint_state_publisher) ## Find catkin macros and libraries -find_package(catkin REQUIRED +find_package(catkin REQUIRED COMPONENTS + message_generation + robotiq_3f_gripper_control roscpp roslib sensor_msgs - robotiq_3f_gripper_control - ) + ) ################################### ## catkin specific configuration ## @@ -18,7 +19,7 @@ find_package(catkin REQUIRED ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( - CATKIN_DEPENDS roscpp roslib sensor_msgs robotiq_3f_gripper_control + CATKIN_DEPENDS message_runtime robotiq_3f_gripper_control roscpp roslib sensor_msgs ) ########### diff --git a/robotiq_3f_gripper_visualization/CMakeLists.txt b/robotiq_3f_gripper_visualization/CMakeLists.txt index 8a3b31b7..85e3f85f 100644 --- a/robotiq_3f_gripper_visualization/CMakeLists.txt +++ b/robotiq_3f_gripper_visualization/CMakeLists.txt @@ -1,7 +1,7 @@ # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html cmake_minimum_required(VERSION 2.8.3) project(robotiq_3f_gripper_visualization) -find_package(catkin REQUIRED urdf) +find_package(catkin REQUIRED COMPONENTS urdf) catkin_package() install(DIRECTORY cfg DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/robotiq_3f_rviz/CMakeLists.txt b/robotiq_3f_rviz/CMakeLists.txt index 8744a096..a2c07ad1 100644 --- a/robotiq_3f_rviz/CMakeLists.txt +++ b/robotiq_3f_rviz/CMakeLists.txt @@ -128,7 +128,7 @@ include_directories( # add_library(${PROJECT_NAME} # src/${PROJECT_NAME}/robotiq_3f_rviz.cpp # ) -add_library(${PROJECT_NAME} src/robotiq_3f_rviz.cpp) +add_library(${PROJECT_NAME} src/${PROJECT_NAME}.cpp) ## Add cmake target dependencies of the library ## as an example, code may need to be generated before libraries diff --git a/robotiq_ethercat/CMakeLists.txt b/robotiq_ethercat/CMakeLists.txt index 09bb757f..187fc103 100644 --- a/robotiq_ethercat/CMakeLists.txt +++ b/robotiq_ethercat/CMakeLists.txt @@ -2,14 +2,14 @@ cmake_minimum_required(VERSION 2.8.3) project(robotiq_ethercat) find_package(catkin REQUIRED COMPONENTS - soem roscpp + soem ) catkin_package( INCLUDE_DIRS include - LIBRARIES robotiq_ethercat - CATKIN_DEPENDS soem roscpp + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS roscpp soem ) include_directories(include @@ -20,12 +20,12 @@ include_directories(include ${soem_INCLUDE_DIRS}/soem ) -add_library(robotiq_ethercat - include/robotiq_ethercat/ethercat_manager.h +add_library(${PROJECT_NAME} + include/${PROJECT_NAME}/ethercat_manager.h src/ethercat_manager.cpp ) -install(TARGETS robotiq_ethercat +install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/robotiq_ft_sensor/CMakeLists.txt b/robotiq_ft_sensor/CMakeLists.txt index 25138092..24184351 100644 --- a/robotiq_ft_sensor/CMakeLists.txt +++ b/robotiq_ft_sensor/CMakeLists.txt @@ -2,9 +2,9 @@ cmake_minimum_required(VERSION 2.8.3) project(robotiq_ft_sensor) find_package(catkin REQUIRED COMPONENTS + message_generation roscpp std_msgs - message_generation ) diff --git a/robotiq_ft_sensor/package.xml b/robotiq_ft_sensor/package.xml index b54dedaf..830a68c0 100644 --- a/robotiq_ft_sensor/package.xml +++ b/robotiq_ft_sensor/package.xml @@ -2,7 +2,7 @@ robotiq_ft_sensor 1.0.0 - Package for reading data from a Robotiq Force Torque Sensor + Package for reading data from a Robotiq Force Torque Sensor Jean-Philippe Roberge Jonathan Savoie http://ros.org/wiki/robotiq diff --git a/robotiq_modbus_rtu/CMakeLists.txt b/robotiq_modbus_rtu/CMakeLists.txt index aa57b23b..afad4139 100644 --- a/robotiq_modbus_rtu/CMakeLists.txt +++ b/robotiq_modbus_rtu/CMakeLists.txt @@ -4,9 +4,9 @@ project(robotiq_modbus_rtu) find_package(catkin REQUIRED COMPONENTS rospy) #set the default path for built executables to the "bin" directory -set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) #set the default path for built libraries to the "lib" directory -set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) +#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) catkin_python_setup() diff --git a/robotiq_modbus_tcp/CMakeLists.txt b/robotiq_modbus_tcp/CMakeLists.txt index 63f5c2c5..22a9a157 100644 --- a/robotiq_modbus_tcp/CMakeLists.txt +++ b/robotiq_modbus_tcp/CMakeLists.txt @@ -4,9 +4,9 @@ project(robotiq_modbus_tcp) find_package(catkin REQUIRED COMPONENTS rospy) #set the default path for built executables to the "bin" directory -set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) #set the default path for built libraries to the "lib" directory -set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) +#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) catkin_python_setup()