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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(remote_manipulation_markers)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
geometry_msgs
interactive_markers
message_generation
pcl_conversions
pcl_ros
rail_grasp_calculation_msgs
rail_manipulation_msgs
roscpp
sensor_msgs
std_srvs
tf
tf_conversions
tf2_bullet
tf2_ros
visualization_msgs
)
################################################
## Declare ROS messages, services and actions ##
################################################
add_message_files(
FILES
GenerateGrasps.msg
)
add_service_files(
FILES
CreateSphere.srv
CycleGrasps.srv
ModeSwitch.srv
)
add_action_files(
FILES
SpecifiedGrasp.action
SpecifiedPose.action
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
actionlib_msgs
geometry_msgs
sensor_msgs
)
###################################################
## Declare things to be passed to other projects ##
###################################################
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package()
###########
## Build ##
###########
## Specify additional locations of header files
include_directories(
include
${catkin_INCLUDE_DIRS}
)
## Declare a cpp executable
add_executable(free_positioning src/FreePositioning.cpp src/Common.cpp)
add_executable(constrained_positioning src/ConstrainedPositioning.cpp src/Common.cpp)
add_executable(gripper_marker_vis src/GripperMarkerVis.cpp src/Common.cpp)
add_executable(point_and_click src/PointAndClick.cpp src/PointAndClick.cpp src/Common.cpp)
add_executable(click_and_refine src/ClickAndRefine.cpp src/Common.cpp src/RefinablePose.cpp)
add_executable(test_click_and_refine src/TestClickAndRefine.cpp)
add_executable(clickable_point_cloud src/ClickablePointCloud.cpp src/point_cloud_manipulation.cpp)
add_executable(point_and_click_demo src/PointAndClickDemo.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(free_positioning ${catkin_LIBRARIES})
target_link_libraries(constrained_positioning ${catkin_LIBRARIES})
target_link_libraries(gripper_marker_vis ${catkin_LIBRARIES})
target_link_libraries(point_and_click ${catkin_LIBRARIES})
target_link_libraries(click_and_refine ${catkin_LIBRARIES})
target_link_libraries(test_click_and_refine ${catkin_LIBRARIES})
target_link_libraries(clickable_point_cloud ${catkin_LIBRARIES})
target_link_libraries(point_and_click_demo ${catkin_LIBRARIES} ${EIGEN_INCLUDE_DIRS})
## Add cmake target dependencies of the executable/library
add_dependencies(free_positioning ${PROJECT_NAME}_generate_messages_cpp rail_manipulation_msgs_gencpp)
add_dependencies(constrained_positioning ${PROJECT_NAME}_generate_messages_cpp rail_manipulation_msgs_gencpp)
add_dependencies(point_and_click ${PROJECT_NAME}_generate_messages_cpp rail_manipulation_msgs_gencpp)
add_dependencies(click_and_refine ${PROJECT_NAME}_generate_messages_cpp rail_manipulation_msgs_gencpp)
add_dependencies(clickable_point_cloud ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(point_and_click_demo rail_manipulation_msgs_gencpp rail_grasp_calculation_msgs_gencpp
${PROJECT_NAME}_generate_messages_cpp)
#############
## Install ##
#############
## Mark executables and/or libraries for installation
install(TARGETS free_positioning constrained_positioning gripper_marker_vis point_and_click click_and_refine test_click_and_refine clickable_point_cloud
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Copy header files
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h"
)
## Copy launch files
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)