Даниил Грабарь
30d64303fc
Preserve dev TCP gizmo motion-priority handling while integrating Ruckig smoothing, continuous JTC spline validation and shared robot limits. Resolve launch and dependency conflicts without removing either feature set. Verified merged build of 8 packages and tests of 4 packages.
126 lines
5.1 KiB
CMake
126 lines
5.1 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(rclcpp_action REQUIRED)
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find_package(control_msgs 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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find_package(moveit_servo REQUIRED)
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find_package(trajectory_msgs REQUIRED)
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find_package(action_msgs REQUIRED)
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find_package(tf2_eigen REQUIRED)
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add_executable(tcp_gizmo src/tcp_gizmo.cpp)
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target_compile_features(tcp_gizmo PUBLIC cxx_std_17)
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target_include_directories(tcp_gizmo PRIVATE include)
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ament_target_dependencies(tcp_gizmo rclcpp rclcpp_action control_msgs iiwa_msgs geometry_msgs trajectory_msgs
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action_msgs moveit_servo moveit_ros_planning moveit_core tf2_eigen)
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find_package(pluginlib REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
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find_package(pybind11 REQUIRED)
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pybind11_add_module(_iiwa_spline_limits src/spline_limits_py.cpp)
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target_compile_features(_iiwa_spline_limits PRIVATE cxx_std_17)
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target_include_directories(_iiwa_spline_limits PRIVATE include)
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ament_get_python_install_dir(PYTHON_INSTALL_DIR)
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install(TARGETS _iiwa_spline_limits LIBRARY DESTINATION ${PYTHON_INSTALL_DIR})
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add_library(iiwa_spline_limits SHARED src/limit_spline_dynamics.cpp)
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target_compile_features(iiwa_spline_limits PUBLIC cxx_std_17)
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target_include_directories(iiwa_spline_limits PRIVATE include)
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ament_target_dependencies(iiwa_spline_limits rclcpp moveit_core moveit_ros_planning pluginlib sensor_msgs)
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pluginlib_export_plugin_description_file(moveit_core planning_response_plugins.xml)
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install(TARGETS iiwa_spline_limits LIBRARY DESTINATION lib)
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if(BUILD_TESTING)
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enable_testing()
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add_executable(test_spline_limits test/test_spline_limits.cpp)
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target_compile_features(test_spline_limits PRIVATE cxx_std_17)
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target_compile_options(test_spline_limits PRIVATE -UNDEBUG)
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target_include_directories(test_spline_limits PRIVATE include)
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add_test(NAME spline_limits COMMAND test_spline_limits)
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find_package(joint_trajectory_controller REQUIRED)
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add_executable(test_jtc_interpolation test/test_jtc_interpolation.cpp)
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target_compile_features(test_jtc_interpolation PRIVATE cxx_std_17)
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target_compile_options(test_jtc_interpolation PRIVATE -UNDEBUG)
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target_include_directories(test_jtc_interpolation PRIVATE include)
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ament_target_dependencies(test_jtc_interpolation joint_trajectory_controller)
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add_test(NAME jtc_interpolation COMMAND test_jtc_interpolation)
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add_executable(test_response_adapter test/test_response_adapter.cpp)
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target_compile_options(test_response_adapter PRIVATE -UNDEBUG)
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ament_target_dependencies(test_response_adapter moveit_core moveit_ros_planning pluginlib)
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add_test(NAME response_adapter COMMAND test_response_adapter)
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add_executable(test_start_state_monitor test/test_start_state_monitor.cpp)
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target_compile_options(test_start_state_monitor PRIVATE -UNDEBUG)
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target_include_directories(test_start_state_monitor PRIVATE include)
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ament_target_dependencies(test_start_state_monitor rclcpp sensor_msgs)
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add_test(NAME start_state_monitor COMMAND test_start_state_monitor)
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set_tests_properties(start_state_monitor PROPERTIES ENVIRONMENT "ROS_DOMAIN_ID=231;ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" TIMEOUT 15)
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add_test(NAME direct_trajectory COMMAND ${Python3_EXECUTABLE} -m pytest -q ${CMAKE_CURRENT_SOURCE_DIR}/test/test_prepare_trajectory.py)
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set_tests_properties(direct_trajectory PROPERTIES ENVIRONMENT "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_SOURCE_DIR}:$ENV{PYTHONPATH}")
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endif()
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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(${PROJECT_NAME})
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install(TARGETS
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tcp_gizmo
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motion_planning_cpp
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DESTINATION lib/${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/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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find_package(ament_cmake_pytest REQUIRED)
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ament_add_gtest(test_tcp_gizmo_policy test/test_tcp_gizmo_policy.cpp)
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target_compile_features(test_tcp_gizmo_policy PUBLIC cxx_std_17)
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target_include_directories(test_tcp_gizmo_policy PRIVATE include)
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ament_add_pytest_test(test_motion_priority test/test_motion_priority.py
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APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR})
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endif()
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ament_package()
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