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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(lwr_controllers)
find_package(catkin REQUIRED COMPONENTS
controller_interface
control_msgs
geometry_msgs
forward_command_controller
control_toolbox
realtime_tools
urdf
roscpp
kdl_parser
message_generation
cmake_modules
kdl_conversions
sensor_msgs
std_msgs
lwr_hw
tf_conversions
)
add_definitions (-fpermissive -std=c++11)
include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})
add_message_files(
FILES
PoseRPY.msg
RPY.msg
MultiPriorityTask.msg
ArmState.msg
CartesianImpedancePoint.msg
Stiffness.msg
)
add_service_files(
FILES
SetCartesianImpedanceCommand.srv
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
sensor_msgs
)
catkin_package(
CATKIN_DEPENDS
controller_interface
control_msgs
geometry_msgs
control_toolbox
realtime_tools
urdf
forward_command_controller
kdl_parser
message_runtime
lwr_hw
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
)
add_library(${PROJECT_NAME}
src/joint_impedance_controller.cpp
src/inverse_dynamics_controller.cpp
src/computed_torque_controller.cpp
src/one_task_inverse_kinematics.cpp
src/multi_task_priority_inverse_kinematics.cpp
src/multi_task_priority_inverse_dynamics.cpp
src/minimum_effort_inverse_dynamics.cpp
src/backstepping_controller.cpp
src/dynamic_sliding_mode_controller.cpp
src/dynamic_sliding_mode_controller_task_space.cpp
src/one_task_inverse_dynamics_jl.cpp
src/gravity_compensation.cpp
src/arm_state_controller.cpp
src/cartesian_impedance_controller.cpp
src/KinematicChainControllerBase.cpp
)
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(FILES lwr_controllers_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})