impedance_controller/CMakeLists.txt at master · chiragjain0/impedance_controller · GitHub

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cmake_minimum_required(VERSION 3.8)
project(impedance_controller)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(controller_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(franka_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(franka_semantic_components REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)


add_library(
  ${PROJECT_NAME}
  SHARED
  src/impedance_controller.cpp
  src/set_pose_server.cpp
)


target_include_directories(
        ${PROJECT_NAME}
        PUBLIC
        include
        ${EIGEN3_INCLUDE_DIRS}
)

ament_target_dependencies(
        ${PROJECT_NAME}
        controller_interface
        hardware_interface
        pluginlib
        rclcpp
        rclcpp_lifecycle
        franka_semantic_components
)


pluginlib_export_plugin_description_file(
        controller_interface impedance_controller.xml)

install(
        TARGETS
        ${PROJECT_NAME}
        RUNTIME DESTINATION bin
        ARCHIVE DESTINATION lib
        LIBRARY DESTINATION lib
)

install(
  DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}/
)


install(
        DIRECTORY include/
        DESTINATION include
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(
        include
)
ament_export_libraries(
        ${PROJECT_NAME}
)
ament_export_dependencies(
        controller_interface
        pluginlib
        rclcpp
        rclcpp_lifecycle
        hardware_interface
)

ament_package()