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+cmake_minimum_required(VERSION 3.0.2)
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+project(motor_control)
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+
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+# Compile as C++11, supported in ROS Kinetic and newer
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+add_compile_options(-std=c++14)
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+
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+## Find catkin macros and libraries
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+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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+## is used, also find other catkin packages
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+find_package(catkin REQUIRED COMPONENTS
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+ roscpp
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+ rospy
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+ sensor_msgs
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+ std_msgs
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+ )
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+find_package(PCL REQUIRED)
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+
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+include_directories(include ${PCL_INCLUDE_DIRS})
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+link_directories(${PCL_LIBRARY_DIRS})
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+## System dependencies are found with CMake's conventions
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+# find_package(Boost REQUIRED COMPONENTS system)
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+
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+
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+## Uncomment this if the package has a setup.py. This macro ensures
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+## modules and global scripts declared therein get installed
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+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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+# catkin_python_setup()
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+
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+################################################
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+## Declare ROS messages, services and actions ##
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+################################################
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+
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+## To declare and build messages, services or actions from within this
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+## package, follow these steps:
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+## * Let MSG_DEP_SET be the set of packages whose message types you use in
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+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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+## * In the file package.xml:
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+## * add a build_depend tag for "message_generation"
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+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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+## but can be declared for certainty nonetheless:
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+## * add a exec_depend tag for "message_runtime"
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+## * In this file (CMakeLists.txt):
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+## * add "message_generation" and every package in MSG_DEP_SET to
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+## find_package(catkin REQUIRED COMPONENTS ...)
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+## * add "message_runtime" and every package in MSG_DEP_SET to
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+## catkin_package(CATKIN_DEPENDS ...)
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+## * uncomment the add_*_files sections below as needed
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+## and list every .msg/.srv/.action file to be processed
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+## * uncomment the generate_messages entry below
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+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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+
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+## Generate messages in the 'msg' folder
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+# add_message_files(
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+# FILES
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+# Message1.msg
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+# Message2.msg
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+# )
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+
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+## Generate services in the 'srv' folder
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+# add_service_files(
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+# FILES
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+# Service1.srv
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+# Service2.srv
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+# )
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+
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+## Generate actions in the 'action' folder
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+# add_action_files(
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+# FILES
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+# Action1.action
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+# Action2.action
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+# )
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+
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+## Generate added messages and services with any dependencies listed here
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+# generate_messages(
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+# DEPENDENCIES
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+# sensor_msgs# std_msgs
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+# )
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+
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+################################################
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+## Declare ROS dynamic reconfigure parameters ##
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+################################################
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+
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+## To declare and build dynamic reconfigure parameters within this
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+## package, follow these steps:
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+## * In the file package.xml:
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+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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+## * In this file (CMakeLists.txt):
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+## * add "dynamic_reconfigure" to
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+## find_package(catkin REQUIRED COMPONENTS ...)
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+## * uncomment the "generate_dynamic_reconfigure_options" section below
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+## and list every .cfg file to be processed
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+
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+## Generate dynamic reconfigure parameters in the 'cfg' folder
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+# generate_dynamic_reconfigure_options(
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+# cfg/DynReconf1.cfg
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+# cfg/DynReconf2.cfg
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+# )
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+
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+###################################
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+## catkin specific configuration ##
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+###################################
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+## The catkin_package macro generates cmake config files for your package
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+## Declare things to be passed to dependent projects
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+## INCLUDE_DIRS: uncomment this if your package contains header files
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+## LIBRARIES: libraries you create in this project that dependent projects also need
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+## CATKIN_DEPENDS: catkin_packages dependent projects also need
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+## DEPENDS: system dependencies of this project that dependent projects also need
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+catkin_package(
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+ # INCLUDE_DIRS include
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+ # LIBRARIES motor_control
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+ # CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs
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+ # DEPENDS system_lib
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+)
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+
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+###########
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+## Build ##
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+###########
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+
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+## Specify additional locations of header files
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+## Your package locations should be listed before other locations
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+include_directories(
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+ # include
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+ ${catkin_INCLUDE_DIRS}
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+)
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+
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+
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+## Declare a C++ library
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+# add_library(${PROJECT_NAME}
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+# src/${PROJECT_NAME}/motor_control.cpp
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+# )
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+
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+## Add cmake target dependencies of the library
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+## as an example, code may need to be generated before libraries
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+## either from message generation or dynamic reconfigure
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+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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+
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+# Declare a C++ executable
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+# With catkin_make all packages are built within a single CMake context
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+# The recommended prefix ensures that target names across packages don't collide
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+add_executable(${PROJECT_NAME}_node src/motor_control_node.cpp src/motor.cpp src/pid.cpp)
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+add_executable(${PROJECT_NAME}_pcd_to_las src/pcd_to_las.cpp)
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+# Rename C++ executable without prefix
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+# The above recommended prefix causes long target names, the following renames the
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+# target back to the shorter version for ease of user use
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+# e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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+
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+# Add cmake target dependencies of the executable
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+# same as for the library above
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+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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+add_dependencies(${PROJECT_NAME}_pcd_to_las ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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+
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+# Specify libraries to link a library or executable target against
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+target_link_libraries(${PROJECT_NAME}_node
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+ ${catkin_LIBRARIES}
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+ )
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+target_link_libraries(${PROJECT_NAME}_pcd_to_las
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+ ${catkin_LIBRARIES}
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+ ${PCL_LIBRARIES}
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+ /usr/local/lib/liblas.so.3
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+ )
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+
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+#############
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+## Install ##
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+#############
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+
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+# all install targets should use catkin DESTINATION variables
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+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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+
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+## Mark executable scripts (Python etc.) for installation
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+## in contrast to setup.py, you can choose the destination
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+# catkin_install_python(PROGRAMS
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+# scripts/my_python_script
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+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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+# )
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+
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+## Mark executables for installation
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+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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+# install(TARGETS ${PROJECT_NAME}_node
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+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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+# )
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+
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+## Mark libraries for installation
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+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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+# install(TARGETS ${PROJECT_NAME}
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+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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+# )
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+
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+## Mark cpp header files for installation
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+# install(DIRECTORY include/${PROJECT_NAME}/
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+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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+# FILES_MATCHING PATTERN "*.h"
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+# PATTERN ".svn" EXCLUDE
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+# )
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+
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+## Mark other files for installation (e.g. launch and bag files, etc.)
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+# install(FILES
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+# # myfile1
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+# # myfile2
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+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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+# )
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+
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+#############
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+## Testing ##
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+#############
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+
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+## Add gtest based cpp test target and link libraries
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+# catkin_add_gtest(${PROJECT_NAME}-test test/test_motor_control.cpp)
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+# if(TARGET ${PROJECT_NAME}-test)
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+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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+# endif()
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+
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+## Add folders to be run by python nosetests
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+# catkin_add_nosetests(test)
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