2024-09-19 22:45:08 +08:00
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cmake_minimum_required(VERSION 3.8)
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project(leg_pd_controller)
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if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif ()
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set(CMAKE_BUILD_TYPE Release)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(CONTROLLER_INCLUDE_DEPENDS
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pluginlib
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rcpputils
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controller_interface
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realtime_tools
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)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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foreach (Dependency IN ITEMS ${CONTROLLER_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach ()
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2024-10-20 12:42:34 +08:00
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# check ros2 control version
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find_package(controller_manager 3.0.0)
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# Handle the case where the required version is not found
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if(NOT controller_manager_FOUND)
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add_definitions(-DROS2_CONTROL_VERSION_LT_3)
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message(FATAL_ERROR "ros2_control version below 3.0.0. "
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"Change the implementation to support ros2_control version 2.")
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endif()
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2024-09-19 22:45:08 +08:00
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add_library(${PROJECT_NAME} SHARED
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src/LegPdController.cpp
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)
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
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ament_target_dependencies(
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${PROJECT_NAME} PUBLIC
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${CONTROLLER_INCLUDE_DEPENDS}
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)
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pluginlib_export_plugin_description_file(controller_interface leg_pd_controller.xml)
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib/${PROJECT_NAME}
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LIBRARY DESTINATION lib/${PROJECT_NAME}
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RUNTIME DESTINATION bin
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)
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ament_export_dependencies(${CONTROLLER_INCLUDE_DEPENDS})
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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if (BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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|
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif ()
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ament_package()
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