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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
if (CMAKE_COMPILER_IS_GNUCXX)
# message ("CMAKE_COMPILER_IS_GNUCXX")
set(CMAKE_CXX_FLAGS_INIT "${CMAKE_CXX_FLAGS_INIT} -g -Wall -ansi -pedantic")
endif()
#set(BOOST_INCLUDEDIR ~/Desktop/boost)
#set(BOOST_ROOT ~/Desktop)
#set(Boost_USE_STATIC_LIBS ON)
#find_package(Boost 1.58.0 COMPONENTS math REQUIRED)
##include_directories(${Boost_INCLUDE_DIRS})
#common commands for building c++ executables and libraries
rosbuild_add_boost_directories()
#rosbuild_add_library(dyn src/raven/two_arm_dyn.cpp)
#target_link_libraries(dyn tnt jama125)
#rosbuild_link_boost(dyn thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
include_directories(src/raven)
include_directories(include)
include_directories(include/raven)
#add include directories for dynamics integration
#include_directories(include/tnt)
#include_directories(include/jama125)
#include_directories(include/boost)
rosbuild_find_ros_package(dynamic_reconfigure)
include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
gencfg()
#set some compiler flags
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-result -Wno-missing-field-initializers")
rosbuild_add_executable(r2_control
# add arm dynamics
#src/raven/two_arm_dyn.cpp
#src/raven/asinw.cpp
src/raven/dof.cpp
src/raven/fwd_cable_coupling.cpp
src/raven/fwd_kinematics.cpp
src/raven/r2_kinematics.cpp
src/raven/get_USB_packet.cpp
src/raven/globals.cpp
#src/raven/grasp.cpp
src/raven/grav_comp.cpp
src/raven/hmatrix.cpp
src/raven/init.cpp
src/raven/inv_cable_coupling.cpp
#src/raven/inv_kinematics.cpp
#src/raven/linear_parabolic_traj.cpp
src/raven/local_io.cpp
src/raven/log.cpp
src/raven/mapping.cpp
src/raven/motor.cpp
src/raven/network_layer.cpp
src/raven/overdrive_detect.cpp
src/raven/parallel.cpp
src/raven/pid_control.cpp
src/raven/put_USB_packet.cpp
src/raven/rt_process_preempt.cpp
src/raven/rt_raven.cpp
src/raven/state_estimate.cpp
src/raven/state_machine.cpp
src/raven/homing.cpp
src/raven/trajectory.cpp
src/raven/console_process.cpp
#src/raven/trajectory_gen_ee449.cpp
src/raven/t_to_DAC_val.cpp
src/raven/update_atmel_io.cpp
src/raven/update_device_state.cpp
src/raven/USB_init.cpp
src/raven/utils.cpp
src/raven/reconfigure.cpp
#src/raven/velocity.cpp
src/raven/tools.cpp
)