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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(moveit_grasps)
# C++ 11
add_compile_options(-std=c++11)
# Warnings
add_definitions(-W -Wall -Wextra
-Wwrite-strings -Wunreachable-code -Wpointer-arith
-Winit-self -Wredundant-decls
-Wno-unused-parameter -Wno-unused-function)
# System dependencies are found with CMake's conventions
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED thread system)
find_package(OpenMP)
# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
eigen_conversions
geometry_msgs
message_generation
moveit_core
moveit_msgs
moveit_ros_planning
moveit_ros_planning_interface
moveit_visual_tools
roscpp
roslint
rosparam_shortcuts
std_msgs
tf
tf_conversions
trajectory_msgs
)
# Catkin
catkin_package(
LIBRARIES
${PROJECT_NAME}
${PROJECT_NAME}_filter
CATKIN_DEPENDS
geometry_msgs
message_runtime
moveit_msgs
moveit_visual_tools
rosparam_shortcuts
std_msgs
trajectory_msgs
INCLUDE_DIRS
include
DEPENDS
EIGEN3
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
# Grasp Library
add_library(${PROJECT_NAME}
src/grasp_candidate.cpp
src/grasp_data.cpp
src/grasp_generator.cpp
src/grasp_scorer.cpp
)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES} ${Boost_LIBRARIES}
)
# Grasp Filter Library
add_library(${PROJECT_NAME}_filter
src/grasp_filter.cpp
src/grasp_planner.cpp
)
target_link_libraries(${PROJECT_NAME}_filter
${PROJECT_NAME}
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
set_target_properties(${PROJECT_NAME}_filter PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") # for threading
set_target_properties(${PROJECT_NAME}_filter PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
# Demo filter executable
add_executable(${PROJECT_NAME}_grasp_filter_demo src/demo/grasp_filter_demo.cpp)
target_link_libraries(${PROJECT_NAME}_grasp_filter_demo
${PROJECT_NAME} ${PROJECT_NAME}_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES}
)
# Demo grasp executable
add_executable(${PROJECT_NAME}_grasp_generator_demo src/demo/grasp_generator_demo.cpp)
target_link_libraries(${PROJECT_NAME}_grasp_generator_demo
${PROJECT_NAME}
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
# Demo grasp data settings
add_executable(${PROJECT_NAME}_grasp_poses_visualizer_demo src/demo/grasp_poses_visualizer_demo.cpp)
target_link_libraries(${PROJECT_NAME}_grasp_poses_visualizer_demo
${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES}
)
# Demo grasp pipeline
add_executable(${PROJECT_NAME}_grasp_pipeline_demo src/demo/grasp_pipeline_demo.cpp)
target_link_libraries(${PROJECT_NAME}_grasp_pipeline_demo
${PROJECT_NAME} ${PROJECT_NAME}_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES}
)
#############
## INSTALL ##
#############
# Install libraries
install(TARGETS
${PROJECT_NAME}
${PROJECT_NAME}_filter
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
# Install header files
install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
# Install shared resources
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
# Install executables
install(TARGETS
${PROJECT_NAME}_grasp_filter_demo
${PROJECT_NAME}_grasp_generator_demo
${PROJECT_NAME}_grasp_poses_visualizer_demo
${PROJECT_NAME}_grasp_pipeline_demo
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
#############
## Testing ##
#############
find_package(rostest REQUIRED)
add_rostest_gtest(grasp_data_test test/grasp_data_test.test test/grasp_data_test.cpp)
target_link_libraries(grasp_data_test
${PROJECT_NAME}
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
add_rostest_gtest(grasp_generator_test test/grasp_generator_test.test test/grasp_generator_test.cpp)
target_link_libraries(grasp_generator_test
${PROJECT_NAME}
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
add_rostest_gtest(grasp_filter_test test/grasp_filter_test.test test/grasp_filter_test.cpp)
target_link_libraries(grasp_filter_test
${PROJECT_NAME}
${PROJECT_NAME}_filter
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
## Test for correct C++ source code
roslint_cpp()