-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
60 lines (49 loc) · 1.42 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
cmake_minimum_required(VERSION 2.8.3)
project(pik_ros)
find_package(osqp REQUIRED)
find_package(OsqpEigen REQUIRED)
find_package(PtscEigen REQUIRED)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
add_compile_options(-Wall -Wextra)
find_package( catkin REQUIRED COMPONENTS
roscpp rospy std_msgs
moveit_core
moveit_ros_planning
moveit_ros_planning_interface )
# pik_ros Library
set(LIBRARY_TARGET_NAME pik_ros)
set(LIBRARY_VERSION 0.0)
catkin_package( INCLUDE_DIRS include
LIBRARIES ${LIBRARY_TARGET_NAME}
DEPENDS
EIGEN3
CATKIN_DEPENDS
moveit_core
moveit_ros_planning
moveit_ros_planning_interface )
include_directories(include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
set(LIBRARY_HEADERS
include/PikRos.hpp
include/MoveItWrapper.hpp
)
add_library(${LIBRARY_TARGET_NAME}
src/PikRos.cpp
src/MoveItWrapper.cpp
)
target_link_libraries(${LIBRARY_TARGET_NAME}
PRIVATE PtscEigen::PtscEigen
${catkin_LIBRARIES}
)
install(TARGETS ${LIBRARY_TARGET_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(FILES ${LIBRARY_HEADERS}
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)