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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(robot_arm_motion)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
mathlib
roscpp
std_msgs
geometry_msgs
sensor_msgs
dynamic_reconfigure
message_generation
# lpv
# motion_generators
utils
# gaze_tracking
)
message(STATUS "eigen include dir ${EIGEN3_INCLUDE_DIR}")
# find_package(Eigen3 REQUIRED)
# if(NOT Eigen_FOUND)
# include(cmake/FindEigen3.cmake)
# endif()
# find_package(PythonLibs 2.7)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
generate_dynamic_reconfigure_options(
cfg/config.cfg
)
add_message_files(
FILES
sobs.msg
obstacle_msg.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES robot_arm_motion
CATKIN_DEPENDS mathlib roscpp message_runtime std_msgs #lpv
DEPENDS system_lib #Eigen3
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
# ${PYTHON_INCLUDE_DIRS}
)
include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(${EIGEN3_INCLUDE_DIR})
add_executable(rds_motion src/robotDSMotion.cpp)
target_link_libraries(rds_motion ${catkin_LIBRARIES})
add_dependencies(rds_motion ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(targetNode src/targetNode.cpp)
target_link_libraries(targetNode ${catkin_LIBRARIES})
add_dependencies(targetNode ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(markerTargetNode src/markerTarget.cpp src/markerTarget_node.cpp src/sg_filter.cpp)
target_link_libraries(markerTargetNode ${catkin_LIBRARIES})
add_dependencies(markerTargetNode ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
add_executable(moveTodesPose src/moveTodesPose.cpp)
target_link_libraries(moveTodesPose ${catkin_LIBRARIES})
add_dependencies(moveTodesPose ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
# set(CORE_SOURCES
# src/Obstacle/Obstacle.cpp
# src/Obstacle/Ellipsoid.cpp
# src/Obstacle/Aggregate.cpp
# src/Obstacle/StarShapeHull.cpp
# src/State/Pose.cpp
# src/State/State.cpp
# src/Modulation.cpp
# src/Agent.cpp
# src/Environment.cpp
# src/Utils/MathTools.cpp
# # src/Utils/Plotting/PlottingTools.cpp
# src/Utils/ObstacleGeneration/Aggregation.cpp
# )
add_executable(obstacleAvoidance src/doa_node.cpp src/DSObstacleAvoidance.cpp)
# src/Agent.cpp src/Environment.cpp src/Modulation.cpp src/Obstacle/Aggregate.cpp
# src/Obstacle/Ellipsoid.cpp src/Obstacle/Aggregate.cpp src/Obstacle/Aggregate.cpp )
target_link_libraries(obstacleAvoidance PUBLIC ${catkin_LIBRARIES})
# target_link_libraries(${PROJECT_NAME} ${PYTHON_LIBRARIES})
add_dependencies(obstacleAvoidance ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# add_executable(target_locator src/targetDefiner.cpp)
# target_link_libraries(target_locator ${catkin_LIBRARIES})
# add_dependencies(target_locator ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# add_dependencies(target_locator ${catkin_EXPORTED_TARGETS})
# add_executable(fake_target_publisher src/fake_target_node.cpp)
# target_link_libraries(fake_target_publisher PUBLIC ${catkin_LIBRARIES})
# add_dependencies(fake_target_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# script to update target position A -> B viceversa
add_executable(fake_target_publisher src/fake_target_node.cpp)
target_link_libraries(fake_target_publisher PUBLIC ${catkin_LIBRARIES})
add_dependencies(fake_target_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(fake_gaze_target_publisher src/fake_gaze_target.cpp)
target_link_libraries(fake_gaze_target_publisher PUBLIC ${catkin_LIBRARIES})
add_dependencies(fake_gaze_target_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(obstacle_visualization src/visualization_node.cpp)
target_link_libraries(obstacle_visualization PUBLIC ${catkin_LIBRARIES})
add_dependencies(obstacle_visualization ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(visualize_gripper_orient src/visualize_gripper_orient.cpp)
target_link_libraries(visualize_gripper_orient PUBLIC ${catkin_LIBRARIES})
add_dependencies(visualize_gripper_orient ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(obstacleAvoidanceClean src/doa_node_clean.cpp src/DSObstacleAvoidance.cpp)
target_link_libraries(obstacleAvoidanceClean PUBLIC ${catkin_LIBRARIES})
add_dependencies(obstacleAvoidanceClean ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(target_selector src/fake_target_only.cpp)
target_link_libraries(target_selector PUBLIC ${catkin_LIBRARIES})
add_dependencies(target_selector ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})