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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(attach_shelf)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/GoToLoading.srv"
"srv/PickUpCart.srv"
# DEPENDENCIES sensor_msgs geometry_msgs
)
# Pre-approach
add_executable(pre_approach_node src/pre_approach.cpp)
ament_target_dependencies(pre_approach_node rclcpp geometry_msgs sensor_msgs nav_msgs)
# Pre-approach 2
add_executable(pre_approach_v2_node src/pre_approach_v2.cpp)
ament_target_dependencies(pre_approach_v2_node rclcpp geometry_msgs sensor_msgs nav_msgs)
# Laser poker
add_executable(laser_scanner_poker_node src/laser_scanner_poker.cpp)
ament_target_dependencies(laser_scanner_poker_node rclcpp sensor_msgs)
# Intensity poker
add_executable(intensity_poker_node src/intensity_poker.cpp)
ament_target_dependencies(intensity_poker_node rclcpp sensor_msgs)
# Approach service server
add_executable(approach_shelf_service_server_node src/approach_service_server.cpp)
ament_target_dependencies(approach_shelf_service_server_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# Cart pick up
add_executable(cart_pick_up_service_server_node src/cart_pick_up.cpp)
ament_target_dependencies(cart_pick_up_service_server_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# TF utils
add_executable(cart_approach_test_node src/cart_approach.cpp src/tf_utils.cpp)
target_include_directories(cart_approach_test_node PUBLIC include)
ament_target_dependencies(cart_approach_test_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# Cart front midpoint test
add_executable(cart_front_midpoint_test_node src/tf_relative_to_laser.cpp src/tf_utils.cpp)
target_include_directories(cart_front_midpoint_test_node PUBLIC include)
ament_target_dependencies(cart_front_midpoint_test_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# Relative TFs test
add_executable(tf_relative_to_laser_test_node src/tf_relative_to_laser.cpp src/tf_utils.cpp)
target_include_directories(tf_relative_to_laser_test_node PUBLIC include)
ament_target_dependencies(tf_relative_to_laser_test_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# Relative dynamic TFs test
add_executable(tf_relative_to_laser_dynamic_test_node src/tf_relative_to_laser_dynamic.cpp src/tf_utils.cpp)
target_include_directories(tf_relative_to_laser_dynamic_test_node PUBLIC include)
ament_target_dependencies(tf_relative_to_laser_dynamic_test_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# Scan incidence TFs test
add_executable(scan_incidence_test_node src/scan_incidence_tf_test.cpp src/tf_utils.cpp)
target_include_directories(scan_incidence_test_node PUBLIC include)
ament_target_dependencies(scan_incidence_test_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# Reflective plates edges test
add_executable(reflective_plates_edges_test_node src/reflective_plates_edges.cpp src/tf_utils.cpp)
target_include_directories(reflective_plates_edges_test_node PUBLIC include)
ament_target_dependencies(reflective_plates_edges_test_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# Unrolled TFs test
add_executable(unrolled_tfs_test_node src/unrolled_tfs.cpp src/tf_utils.cpp)
target_include_directories(unrolled_tfs_test_node PUBLIC include)
ament_target_dependencies(unrolled_tfs_test_node rclcpp geometry_msgs nav_msgs sensor_msgs tf2 tf2_ros std_msgs)
# Static-publish TFs
add_executable(static_tf_broadcaster_from_pose src/static_publish_frames.cpp src/tf_utils.cpp)
target_include_directories(static_tf_broadcaster_from_pose PUBLIC include)
ament_target_dependencies(static_tf_broadcaster_from_pose rclcpp geometry_msgs tf2 tf2_ros)
# Get the typesupport target name
rosidl_get_typesupport_target(typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
# Link against the generated interface library
# NOTE: CMake, no keywords (PRIVATE, PUBLIC) or all keywords (can't mix)
target_link_libraries(pre_approach_v2_node ${typesupport_target})
target_link_libraries(approach_shelf_service_server_node ${typesupport_target})
target_link_libraries(cart_pick_up_service_server_node ${typesupport_target})
install(TARGETS
pre_approach_node
pre_approach_v2_node
laser_scanner_poker_node
intensity_poker_node
approach_shelf_service_server_node
cart_pick_up_service_server_node
static_tf_broadcaster_from_pose
cart_approach_test_node
tf_relative_to_laser_test_node
cart_front_midpoint_test_node
tf_relative_to_laser_dynamic_test_node
scan_incidence_test_node
reflective_plates_edges_test_node
unrolled_tfs_test_node
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY
launch
config
rviz
DESTINATION share/${PROJECT_NAME}
)
ament_package()