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Commit e50a44d5 authored by gavanderhoorn's avatar gavanderhoorn Committed by ipa-fxm
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kinematics: fixup build script and manifest (dependencies). Fix #113. 

Removes the boilerplate comments, unnecessary link_directories()
and fixes up the dependency declaration (proper catkin and system
dep listing) in CMakeLists.txt.

Related changes are made to the manifest.

Note: catkin_lint still complains about 'boost' being unconfigured,
      but this seems to be due to a difference in capitalisation
      between the CMake Findscript and the rosdep entry.
parent be9760ec
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ur_kinematics/CMakeLists.txt
+ 16
− 113
View file @ e50a44d5
cmake_minimum_required(VERSION 2.8.3)
project(ur_kinematics)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs moveit_core moveit_ros_planning pluginlib tf_conversions)
find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs moveit_core
moveit_ros_planning pluginlib tf_conversions)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
#######################################
## Declare ROS messages and services ##
#######################################
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES ur10_kin ur5_kin ur10_moveit_plugin ur5_moveit_plugin
CATKIN_DEPENDS pluginlib moveit_core
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
CATKIN_DEPENDS roscpp geometry_msgs moveit_core moveit_ros_planning
pluginlib tf_conversions
DEPENDS boost
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(SYSTEM ${Boost_INCLUDE_DIR})
include_directories(include ${catkin_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
link_directories(${catkin_LIBRARY_DIRS})
## Declare a cpp library
# add_library(ur_kinematics
# src/${PROJECT_NAME}/ur_kinematics.cpp
# )
add_library(ur10_kin src/ur_kin.cpp)
set_target_properties(ur10_kin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
......@@ -78,29 +30,18 @@ set_target_properties(ur5_kin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
add_library(ur10_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur10_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
target_link_libraries(ur10_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur10_kin)
target_link_libraries(ur10_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur10_kin)
add_library(ur5_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur5_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
target_link_libraries(ur5_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur5_kin)
## Declare a cpp executable
# add_executable(ur_kinematics_node src/ur_kinematics_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(ur_kinematics_node ur_kinematics_generate_messages_cpp)
target_link_libraries(ur5_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur5_kin)
## Specify libraries to link a library or executable target against
# target_link_libraries(ur_kinematics_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
......@@ -117,45 +58,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ur_kinematics ur_kinematics_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
ur_moveit_plugins.xml
# install moveit plugin description file
install(FILES ur_moveit_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_kinematics.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
ur_kinematics/package.xml
+ 7
− 36
View file @ e50a44d5
......@@ -3,47 +3,18 @@
<name>ur_kinematics</name>
<version>1.0.4</version>
<description>
Provides forward and inverse kinematics for Universal robot designs.
Provides forward and inverse kinematics for Universal Robots designs.
See http://hdl.handle.net/1853/50782 for details.
</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="aub@ipa.fhg.de">Alexander Bubeck</maintainer>
<maintainer email="kphawkins@gatech.edu">Kelsey Hawkins</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://ros.org/wiki/ur_kinematics</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<url type="website">http://wiki.ros.org/ur_kinematics</url>
<url type="bugtracker">https://github.com/ros-industrial/universal_robot/issues</url>
<url type="repository">https://github.com/ros-industrial/universal_robot</url>
<author email="kphawkins@gatech.edu">Kelsey Hawkins</author>
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>moveit_core</build_depend>
......@@ -52,6 +23,7 @@
<build_depend>geometry_msgs</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>tf_conversions</build_depend>
<build_depend>boost</build_depend>
<run_depend>moveit_core</run_depend>
<run_depend>moveit_ros_planning</run_depend>
......@@ -59,9 +31,8 @@
<run_depend>geometry_msgs</run_depend>
<run_depend>pluginlib</run_depend>
<run_depend>tf_conversions</run_depend>
<run_depend>boost</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<moveit_core plugin="${prefix}/ur_moveit_plugins.xml"/>
</export>
......
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