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Talbot, Fletcher (Data61, Pullenvale)Talbot, Fletcher (Data61, Pullenvale)
Talbot, Fletcher (Data61, Pullenvale)
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Talbot, Fletcher (Data61, Pullenvale)
committed
Fixed build procedure + small bug fix + small vis changes
1 parent ce3b247 commit ce65043

14 files changed

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lines changed

‎CMakeLists.txt

+144-120
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,41 @@
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cmake_minimum_required(VERSION 2.8.3)
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# Copyright (c) 2020
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# Commonwealth Scientific and Industrial Research Organisation (CSIRO)
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# ABN 41 687 119 230
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#
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# Author: Fletcher Talbot
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cmake_minimum_required(VERSION 3.5)
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project(syropod_highlevel_controller)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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set(PACKAGE_VERSION 0.5.11)
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if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/package.xml")
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file(READ package.xml PACKAGE_XML)
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string(REGEX REPLACE ".*<version>[\\t ]*(.*)[\\t ]*<\\/version>.*" "\\1" PACKAGE_VERSION "${PACKAGE_XML}")
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endif(EXISTS "${CMAKE_CURRENT_LIST_DIR}/package.xml")
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set(syropod_highlevel_controller_VERSION "${PACKAGE_VERSION}")
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# C++ standards setup.
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
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# Ensure -fPIC is added.
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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# Additional CMake modules
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
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set(CLANG_TIDY_PROJECT_PREFIX SHC) # clang-tidy option prefix
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include(compilerSetup) # Setup compiler warnings.
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include(clang-tidy) # clang-tidy support
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# Find external depedencies.
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# Generally, we should specify either CONFIG to use config style scripts, or MODULE for FindPackage scripts.
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find_package(Eigen3 REQUIRED)
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# Alias eigen include dirs for catkin/version interopability
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set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
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# Need message generation commands.
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
@@ -16,41 +48,9 @@ find_package(catkin REQUIRED COMPONENTS
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tf2_ros
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)
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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generate_dynamic_reconfigure_options(config/Dynamic.cfg)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependencies might have been
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## pulled in transitively but can be declared for certainty nonetheless:
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## * add a build_depend tag for "message_generation"
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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#Generate messages in the 'msg' folder
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add_message_files(
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FILES
@@ -59,20 +59,6 @@ generate_dynamic_reconfigure_options(config/Dynamic.cfg)
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TargetTipPose.msg
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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# Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
@@ -92,85 +78,123 @@ generate_dynamic_reconfigure_options(config/Dynamic.cfg)
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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# LIBRARIES syropod_highlevel_controller
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CATKIN_DEPENDS roscpp rospy message_runtime std_msgs sensor_msgs geometry_msgs dynamic_reconfigure
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# DEPENDS system_lib
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CATKIN_DEPENDS
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roscpp
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message_runtime
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std_msgs
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sensor_msgs
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geometry_msgs
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dynamic_reconfigure
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DEPENDS
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Eigen3
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)
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add_definitions(-DEIGEN3_SUPPORT -DDEBUG -std=c++11 -Wall -g -ggdb -O0 -fopenmp -fPIC)
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###########
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## Build ##
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###########
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#FILE(GLOB syropod_highlevel_controller_sources "src/*.cpp")
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##################################
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# Build setup
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##################################
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# Configure the project config header.
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configure_file(shc_config.in.h "${CMAKE_CURRENT_BINARY_DIR}/shc_config.h")
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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/usr/include/eigen3
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SYSTEM
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${Eigen3_INCLUDE_DIRS}
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)
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## Declare a cpp library
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# add_library(syropod_highlevel_controller
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# src/${PROJECT_NAME}/syropod_highlevel_controller.cpp
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# )
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# Project source files. There are two options here:
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# 1. Populate the following varibles inline here:
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# - SOURCES for source files to be built and header files associated with built sources.
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# - PUBLIC_HEADERS for all headers to be marshalled as part of the public API.
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# May double up with SOURCES
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# 2. Create a file alongside CMakeLists.txt called "sourcelist.cmake" and populate
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# the same varaibles in that file instead, then use "incldue(sourcelist.cmake)" here.
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#include(sourcelist.cmake)
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# For executables we don't need to concern outselves with PUBLIC_HEADERS as we can assume noone will link to the
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# executable. Cases where linking to the executable is requried (e.g., plugins) are beyond the scope of this exercise.
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set(SOURCES
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src/admittance_controller.cpp
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src/debug_visualiser.cpp
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src/main.cpp
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src/model.cpp
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src/pose_controller.cpp
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src/state_controller.cpp
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src/walk_controller.cpp
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# include/${PROJECT_NAME}/admittance_controller.h
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# include/${PROJECT_NAME}/debug_visualiser.h
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# include/${PROJECT_NAME}/model.h
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# include/${PROJECT_NAME}/parameters_and_states.h
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# include/${PROJECT_NAME}/pose.h
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# include/${PROJECT_NAME}/pose_controller.h
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# include/${PROJECT_NAME}/standard_includes.h
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# include/${PROJECT_NAME}/state_controller.h
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# include/${PROJECT_NAME}/walk_controller.h
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shc_config.in.h
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)
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## Declare a cpp executable
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add_executable(syropod_highlevel_controller_node src/main.cpp src/model.cpp src/walk_controller.cpp src/pose_controller.cpp src/debug_visualiser.cpp src/admittance_controller.cpp src/state_controller.cpp)
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# Build generated header list.
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set(GENERATED_FILES
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"${CMAKE_CURRENT_BINARY_DIR}/shc_config.h"
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)
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# Generate the executable.
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add_executable(${PROJECT_NAME}_node include ${SOURCES} ${GENERATED_FILES})
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# CMake does not automatically propagate CMAKE_DEBUG_POSTFIX to executables. We do so to avoid confusing link issues
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# which can would when building release and debug exectuables to the same path.
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# set_target_properties(waypoint_gui_node PROPERTIES DEBUG_POSTFIX "${CMAKE_DEBUG_POSTFIX}")
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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# Add dependencies for catkin exports and exports from this project.
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# Variables may be empty, so these lines may need to be disabled. For example, in this case
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# ${PROJECT_NAME}_EXPORTED_TARGETS is only availabe because we have generated messages for this package.
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add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
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## Specify libraries to link a library or executable target against
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target_link_libraries(syropod_highlevel_controller_node ${catkin_LIBRARIES} -fopenmp)
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add_dependencies(syropod_highlevel_controller_node syropod_highlevel_controller_generate_messages_cpp syropod_highlevel_controller_gencfg)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS syropod_highlevel_controller syropod_highlevel_controller_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_syropod_highlevel_controller.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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# Add include directories to the target
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# For executables, all includes can be private (see set(SOURCES ...) above).
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target_include_directories(${PROJECT_NAME}_node
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PRIVATE
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# Include path for generated files during build.
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
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# Add parent directory to support include pattern: #include <project_dir/header.h>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/..>
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)
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# Add catkin include directories and system include directories.
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# Always add ${catkin_INCLUDE_DIRS} with the SYSTEM argument
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# These dependenties should be private as much as possible.
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target_include_directories(${PROJECT_NAME}_node SYSTEM
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PRIVATE
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"${catkin_INCLUDE_DIRS}"
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)
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# Link dependencies.
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# Properly defined targets will also have their include directories and those of dependencies added by this command.
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target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES})
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# Enable clang-tidy
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clang_tidy_target(${PROJECT_NAME} EXCLUDE_MATCHES ".*\\.in($|\\..*)")
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# Setup folder display with the target for Visual Studio. This should always be done to match
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# the on disk layout of the source files.
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source_group("generated" FILES ${GENERATED_FILES})
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source_group("source" REGULAR_EXPRESSION ".*$")
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# With CMake 3.8+ you can do the following:
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# source_group(TREE "${CMAKE_CURRENT_LIST_DIR}" PREFIX source FILES ${SOURCES})
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# Setup installation.
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# Binary installation.
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install(TARGETS ${PROJECT_NAME}_node
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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INCLUDES DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(DIRECTORY config launch rviz_cfg
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)

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