Даниил Грабарь
748f30b1d1
- Implement move_to_pose_server for motion planning using MoveIt - Create iiwa_msgs package with MoveToPose service definition - Update iiwa.launch.py to include move_to_pose_server node - Modify joint_limits.yaml to add position limits for joints - Remove iiwa_voice package and related files
55 lines
1.2 KiB
CMake
55 lines
1.2 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/motion_planning_test.py
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# scripts/motion_planning.py
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DESTINATION lib/${PROJECT_NAME}
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RENAME motion_planning
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)
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install(PROGRAMS
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scripts/move_to_pose_server.py
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DESTINATION lib/${PROJECT_NAME}
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RENAME move_to_pose_server
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)
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ament_package()
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