Merge branch 'main' into foxy

Author: munseng-flexiv

.github/workflows/foxy-binary-build.yml

@@ -40,7 +40,7 @@ jobs:
           ros-foxy-robot-state-publisher
       - name: Build and run tests
         id: action-ros-ci
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           package-name: |

.github/workflows/foxy-source-build.yml

@@ -1,6 +1,5 @@
 # Flexiv ROS 2
 
-[![Foxy Source Build](https://github.com/flexivrobotics/flexiv_ros2/actions/workflows/foxy-source-build.yml/badge.svg)](https://github.com/flexivrobotics/flexiv_ros2/actions/workflows/foxy-source-build.yml)
 [![Foxy Binary Build](https://github.com/flexivrobotics/flexiv_ros2/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/flexivrobotics/flexiv_ros2/actions/workflows/foxy-binary-build.yml)
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 

README.md

@@ -10,8 +10,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-option(BUILD_FOR_ARM64 "Link to RDK library for arm64 processor, otherwise link to x64" OFF)
-
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -31,15 +29,35 @@ target_include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/rdk/include
 )
 
-# Link arm64 or x64 version of libFlexivRdk
-if (${BUILD_FOR_ARM64})
-  target_link_libraries(${PROJECT_NAME}
-    ${CMAKE_CURRENT_SOURCE_DIR}/rdk/lib/libFlexivRdk.arm64-darwin.a)
-else()
-  target_link_libraries(${PROJECT_NAME}
-    ${CMAKE_CURRENT_SOURCE_DIR}/rdk/lib/libFlexivRdk.x86_64-linux-gnu.a)
+# Set static library
+message("OS: ${CMAKE_SYSTEM_NAME}")
+message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
+if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/rdk/lib/libFlexivRdk.x86_64-linux-gnu.a")
+  elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "aarch64")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/rdk/lib/libFlexivRdk.aarch64-linux-gnu.a")
+  else()
+    message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
+  endif()
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm64")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/rdk/lib/libFlexivRdk.arm64-darwin.a")
+  else()
+    message(FATAL_ERROR "Mac with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
+  endif()
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "AMD64")
+    set(RDK_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/rdk/lib/FlexivRdk.win_amd64.lib")
+  else()
+    message(FATAL_ERROR "Windows with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
+  endif()
 endif()
 
+target_link_libraries(${PROJECT_NAME}
+  ${RDK_STATIC_LIBRARY}
+)
+
 # Link ROS packages
 ament_target_dependencies(
   ${PROJECT_NAME}