CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(arm_operation)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_AUTOMIC ON)

SET (CMAKE_CXX_FLAGS "-fPIC")
set (CMAKE_INCLUDE_CURRENT_DIR ON)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS cmake_modules
  roscpp
  rospy
  roslib
  std_msgs
  sensor_msgs
  geometry_msgs
  trajectory_msgs
  tf
  actionlib
  actionlib_msgs
  message_generation
  moveit_core
  moveit_ros_planning
  octomap_ros
)
find_package(Eigen REQUIRED)
find_package(Qt5 COMPONENTS Widgets Gui Core REQUIRED)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  joint_value.msg
)

## Generate services in the 'srv' folder
add_service_files(
  FILES
  target_pose.srv
  joint_pose.srv
  velocity_ctrl.srv
)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
  geometry_msgs
  actionlib_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## 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
 CATKIN_DEPENDS roscpp rospy std_msgs roslib message_runtime
 DEPENDS Eigen
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Eigen_INCLUDE_DIRS}
  ${Qt5Widgets_INCLUDE_DIRS}
  ${Qt5Gui_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/arm_operation.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/arm_operation_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".svn" EXCLUDE
)



## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_arm_operation.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

add_executable(ur5e_control_server src/ur_control_server_node.cpp src/ur_control_server.cpp)
add_dependencies(ur5e_control_server ${catkin_EXPORTED_TARGETS} arm_operation_gencpp)
target_link_libraries(ur5e_control_server ${catkin_LIBRARIES} ur5e_kin)

add_executable(ur5_control_server src/ur_control_server_node.cpp src/ur_control_server.cpp)
add_dependencies(ur5_control_server ${catkin_EXPORTED_TARGETS} arm_operation_gencpp)
target_link_libraries(ur5_control_server ${catkin_LIBRARIES} ur5_kin)

add_executable(ur3_control_server src/ur_control_server_node.cpp src/ur_control_server.cpp)
add_dependencies(ur3_control_server ${catkin_EXPORTED_TARGETS} arm_operation_gencpp)
target_link_libraries(ur3_control_server ${catkin_LIBRARIES} ur3_kin)

add_executable(get_current_pose src/get_current_pose.cpp)
add_dependencies(get_current_pose ${catkin_EXPORTED_TARGETS} arm_operation_gencpp)
target_link_libraries(get_current_pose ${catkin_LIBRARIES})

add_executable(set_pose src/set_pose.cpp)
add_dependencies(set_pose ${catkin_EXPORTED_TARGETS} arm_operation_gencpp)
target_link_libraries(set_pose ${catkin_LIBRARIES})

add_executable(ur3_ik_solver script/ur_ik_solver.cpp)
target_link_libraries(ur3_ik_solver ${catkin_LIBRARIES} ur3_kin)

add_executable(ur5_ik_solver script/ur_ik_solver.cpp)
target_link_libraries(ur5_ik_solver ${catkin_LIBRARIES} ur5_kin)

add_executable(tcp_transform_publisher src/tcp_transform_publisher.cpp)
target_link_libraries(tcp_transform_publisher ${catkin_LIBRARIES})

qt5_wrap_cpp(gui_SRC include/mainwindow.h)
qt5_wrap_ui(gui_UI src/qt/mainwindow.ui)

add_executable(ur5_ik_solver_ui
  src/qt/mainwindow.cpp
  src/qt/main.cpp
  ${gui_SRC}
  ${gui_UI}
  src/ik_solver.hpp
)
qt5_use_modules(ur5_ik_solver_ui Widgets)
target_link_libraries(ur5_ik_solver_ui ${catkin_LIBRARIES} ur5_kin)

add_executable(ur3_ik_solver_ui
  src/qt/mainwindow.cpp
  src/qt/main.cpp
  ${gui_SRC}
  ${gui_UI}
  src/ik_solver.hpp
)
qt5_use_modules(ur3_ik_solver_ui Widgets)
target_link_libraries(ur3_ik_solver_ui ${catkin_LIBRARIES} ur3_kin)
#target_link_libraries(ur5_ik_solver_ui ${Qt5Widgets_LIBRARIES} ${Qt5Gui_LIBRARIES})