-
Notifications
You must be signed in to change notification settings - Fork 2
/
CMakeLists.txt
150 lines (115 loc) · 4.11 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
cmake_minimum_required(VERSION 3.12)
project(bin_picking VERSION 0.1.0 LANGUAGES CXX)
option(GRASPRO_BUILD_ENSENSO_NODE "Build ensenso node." ON)
option(GRASPRO_BUILD_REALSENSE_NODE "Build realsense node." ON)
option(GRASPRO_BUILD_FRANKA_CONTROL "Build franka control." ON)
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
set(Eigen3_DIRS "/usr/local/include/eigen3/")
set(PYTHON_EXECUTABLE python3.6)
set(PYTHON_LIBRARY "/usr/lib/python3.6/config-3.6m-x86_64-linux-gnu/libpython3.6m.so")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(Eigen3 REQUIRED)
find_package(OpenCV 3.3 REQUIRED)
find_package(pybind11 REQUIRED)
find_package(Python 3.6 EXACT REQUIRED)
find_package(Franka REQUIRED)
if(GRASPRO_BUILD_ENSENSO_NODE)
find_package(Ensenso 2.2 REQUIRED)
endif()
if(GRASPRO_BUILD_REALSENSE_NODE)
find_package(OpenGL REQUIRED)
find_package(realsense2 REQUIRED)
endif()
find_package(catkin REQUIRED COMPONENTS
roscpp
actionlib
message_generation
std_msgs
sensor_msgs
geometry_msgs
franka_msgs
interactive_markers
image_transport
cv_bridge
moveit_core
moveit_ros_planning
moveit_ros_planning_interface
)
include_directories(include)
## Generate messages in the 'msg' folder
add_message_files(
FILES
Grasp.msg
OrthographicImage.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
GetOrthographicImages.srv
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
sensor_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS
include
# LIBRARIES
CATKIN_DEPENDS
roscpp
message_runtime
std_msgs
sensor_msgs
geometry_msgs
interactive_markers
franka_msgs
moveit_core
moveit_ros_planning
moveit_ros_planning_interface
# DEPENDS
)
###########
## Build ##
###########
add_library(ros INTERFACE)
target_include_directories(ros INTERFACE ${catkin_INCLUDE_DIRS})
target_link_libraries(ros INTERFACE ${catkin_LIBRARIES})
add_dependencies(ros ${catkin_EXPORTED_TARGETS})
pybind11_add_module(orthographical src/orthographic_image/python.cpp)
target_include_directories(orthographical PRIVATE ${catkin_INCLUDE_DIRS} ${Eigen3_DIRS})
target_link_libraries(orthographical PRIVATE ${OpenCV_LIBS})
add_library(frankr src/frankr/robot.cpp src/frankr/gripper.cpp)
target_include_directories(frankr PUBLIC ${catkin_INCLUDE_DIRS} ${Eigen3_DIRS})
target_link_libraries(frankr PUBLIC ${catkin_LIBRARIES} Franka::Franka)
pybind11_add_module(cfrankr src/frankr/python.cpp)
target_link_libraries(cfrankr PUBLIC frankr)
if(GRASPRO_BUILD_ENSENSO_NODE)
add_library(ensenso src/ensenso/ensenso.cpp)
target_include_directories(ensenso PUBLIC ${Eigen3_DIRS} ${ENSENSO_INCLUDE_DIRS})
target_link_libraries(ensenso PUBLIC ${ENSENSO_LIBRARIES} ${OpenCV_LIBS} ros)
add_executable(ensenso_node src/ensenso/ensenso_node.cpp)
target_link_libraries(ensenso_node PRIVATE ${OpenCV_LIBS} ensenso ros)
endif()
if(GRASPRO_BUILD_REALSENSE_NODE)
add_library(realsense src/realsense/realsense.cpp)
target_include_directories(realsense PUBLIC ${Eigen3_DIRS} ${GLFW_INCLUDE_DIRS} ${OPENGL_INCLUDE_DIR} ${realsense_INCLUDE_DIR})
target_link_libraries(realsense PUBLIC glfw ${GLFW_LIBRARIES} ${OpenCV_LIBS} ${OPENGL_LIBRARIES} ${realsense2_LIBRARY} ros)
add_executable(realsense_node src/realsense/realsense_node.cpp)
target_link_libraries(realsense_node PRIVATE ${OpenCV_LIBS} realsense ros)
endif()