97 lines
2.2 KiB
CMake
97 lines
2.2 KiB
CMake
# Copyright 2025 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.22)
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project(openarm_hardware)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(orocos_kdl REQUIRED)
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find_package(kdl_parser REQUIRED)
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find_package(urdfdom REQUIRED)
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if(NOT TARGET kdl_parser::kdl_parser)
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add_library(kdl_parser::kdl_parser INTERFACE IMPORTED)
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target_link_libraries(kdl_parser::kdl_parser
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INTERFACE ${kdl_parser_LIBRARIES})
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target_include_directories(kdl_parser::kdl_parser
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INTERFACE ${kdl_parser_INCLUDE_DIRS})
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endif()
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# Find openarm_can library
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find_package(OpenArmCAN REQUIRED)
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add_library(${PROJECT_NAME} SHARED
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src/v10_simple_hardware.cpp
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)
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target_include_directories(
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${PROJECT_NAME}
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PRIVATE
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include
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)
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target_link_libraries(${PROJECT_NAME}
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OpenArmCAN::openarm_can
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${orocos_kdl_LIBRARIES}
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kdl_parser::kdl_parser
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urdfdom::urdfdom_model
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)
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ament_target_dependencies(${PROJECT_NAME}
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hardware_interface
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kdl_parser
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orocos_kdl
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pluginlib
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rclcpp
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rclcpp_lifecycle
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)
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pluginlib_export_plugin_description_file(hardware_interface openarm_hardware.xml)
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install(
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TARGETS ${PROJECT_NAME}
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DESTINATION lib
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)
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install(DIRECTORY include/
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DESTINATION include
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)
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ament_export_include_directories(
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include
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)
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ament_export_libraries(
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${PROJECT_NAME}
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)
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ament_export_dependencies(
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hardware_interface
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kdl_parser
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orocos_kdl
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openarm_can
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pluginlib
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rclcpp
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)
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ament_package()
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