ros_impedance_controller/CMakeLists.txt at master · idra-lab/ros_impedance_controller · GitHub

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cmake_minimum_required(VERSION 3.10)
project(ros_impedance_controller)

add_compile_options(-std=c++17)

find_package(Eigen3 REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  controller_interface
  hardware_interface
  pluginlib
  sensor_msgs
  std_msgs
  message_generation
)

## Messages
add_message_files(
  FILES
  EffortPid.msg
  pid.msg
)

## Services
add_service_files(
  FILES
  set_pids.srv
  generic_float.srv
)

generate_messages(
  DEPENDENCIES std_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS
    roscpp
    controller_interface
    hardware_interface
    pluginlib
    sensor_msgs
    std_msgs
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

## Controller plugin library
add_library(${PROJECT_NAME}
  src/controller.cpp
)

add_dependencies(${PROJECT_NAME}
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
)

#install
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 controller_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  PATTERN ".svn" EXCLUDE)

install(DIRECTORY config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
  PATTERN ".svn" EXCLUDE)

install(DIRECTORY worlds/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds
  PATTERN ".svn" EXCLUDE)