Даниил Грабарь
a4d318fceb
- Deleted obsolete `test_motion_sequence.py` file. - Updated `setup.py` to remove references to the old test script and motion configuration file. - Added `motion_sequence_config.json` to define home position and waypoints for the robot. - Introduced `motion_sequence_runner.py` to execute motion sequences based on the new configuration format, supporting both joint and pose movements.
59 lines
1.3 KiB
CMake
59 lines
1.3 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(iiwa_planning)
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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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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(moveit_core REQUIRED)
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find_package(moveit_ros_planning REQUIRED)
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find_package(moveit_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(iiwa_msgs REQUIRED)
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add_executable(motion_planning_cpp src/motion_planning_cpp.cpp)
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target_include_directories(motion_planning_cpp PUBLIC include)
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ament_target_dependencies(motion_planning_cpp
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rclcpp
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moveit_ros_planning_interface
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moveit_core
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moveit_ros_planning
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moveit_msgs
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geometry_msgs
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)
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ament_python_install_package(${PROJECT_NAME})
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install(TARGETS
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motion_planning_cpp
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DESTINATION lib/${PROJECT_NAME}
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)
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install(PROGRAMS
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scripts/move_to_pose_server.py
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DESTINATION lib/${PROJECT_NAME}
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RENAME move_to_pose_server
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)
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install(PROGRAMS
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scripts/motion_sequence_runner.py
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DESTINATION lib/${PROJECT_NAME}
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RENAME motion_sequence_runner
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)
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install(FILES
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scripts/motion_sequence_config.json
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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