78 lines
2.9 KiB
CMake
78 lines
2.9 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_teleop)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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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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# -----------------------------
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# Find external packages
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# -----------------------------
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find_package(OpenArmCAN REQUIRED)
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# find_package(urdf 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(Eigen3 REQUIRED)
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find_package(urdfdom REQUIRED)
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find_package(urdfdom_headers REQUIRED)
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find_package(yaml-cpp REQUIRED)
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if(NOT TARGET yaml-cpp::yaml-cpp AND TARGET yaml-cpp)
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add_library(yaml-cpp::yaml-cpp ALIAS yaml-cpp)
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endif()
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# -----------------------------
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# Create static library
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# -----------------------------
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add_library(
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openarm_teleop_lib STATIC
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src/controller/dynamics.cpp src/controller/control.cpp
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src/openarm_port/openarm_init.cpp src/openarm_port/joint_mapper.cpp)
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target_include_directories(openarm_teleop_lib
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PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src)
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if(NOT TARGET kdl_parser::kdl_parser)
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# For old kdl-parser such as libkdl-parser-dev 1.14.2 in Debian.
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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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target_link_libraries(
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openarm_teleop_lib
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PUBLIC OpenArmCAN::openarm_can Eigen3::Eigen ${orocos_kdl_LIBRARIES}
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kdl_parser::kdl_parser urdfdom::urdfdom_model yaml-cpp::yaml-cpp)
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# -----------------------------
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# Executables
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# -----------------------------
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add_executable(gravity_comp control/gravity_compasation.cpp)
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add_executable(comm_test control/openarm_communication_test.cpp)
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add_executable(unilateral_control control/openarm_unilateral_control.cpp)
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add_executable(bilateral_control control/openarm_bilateral_control.cpp)
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add_executable(joint_sensor_control control/openarm_joint_sensor.cpp)
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target_link_libraries(gravity_comp PRIVATE openarm_teleop_lib)
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target_link_libraries(comm_test PRIVATE openarm_teleop_lib)
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target_link_libraries(unilateral_control PRIVATE openarm_teleop_lib)
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target_link_libraries(bilateral_control PRIVATE openarm_teleop_lib)
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target_link_libraries(joint_sensor_control PRIVATE openarm_teleop_lib)
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