git commit -m "first commit"
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216
mir_robot/diff_drive_controller/CMakeLists.txt
Executable file
216
mir_robot/diff_drive_controller/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
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project(diff_drive_controller)
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# Load catkin and all dependencies required for this package
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find_package(catkin REQUIRED COMPONENTS
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controller_interface
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control_msgs
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dynamic_reconfigure
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geometry_msgs
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hardware_interface
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nav_msgs
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pluginlib
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realtime_tools
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tf
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urdf
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)
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find_package(Boost REQUIRED)
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# Declare a catkin package
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generate_dynamic_reconfigure_options(cfg/DiffDriveController.cfg)
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS
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controller_interface
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control_msgs
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dynamic_reconfigure
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geometry_msgs
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hardware_interface
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nav_msgs
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realtime_tools
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tf
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LIBRARIES ${PROJECT_NAME}
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DEPENDS Boost
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)
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###########
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## Build ##
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###########
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# Specify header include paths
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include_directories(
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include ${catkin_INCLUDE_DIRS}
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include ${Boost_INCLUDE_DIRS}
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)
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add_library(${PROJECT_NAME}
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src/diff_drive_controller.cpp
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src/odometry.cpp
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src/speed_limiter.cpp
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)
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
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#############
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## Testing ##
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#############
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if (CATKIN_ENABLE_TESTING)
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find_package(controller_manager REQUIRED)
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find_package(rosgraph_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(rostest REQUIRED)
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include_directories(
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${controller_manager_INCLUDE_DIRS}
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${rosgraph_msgs_INCLUDE_DIRS}
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${std_srvs_INCLUDE_DIRS}
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)
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set(test_LIBRARIES
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${controller_manager_LIBRARIES}
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${rosgraph_msgs_LIBRARIES}
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${std_srvs_LIBRARIES}
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)
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add_executable(diffbot test/diffbot.cpp)
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target_link_libraries(diffbot ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_executable(skidsteerbot test/skidsteerbot.cpp)
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target_link_libraries(skidsteerbot ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_dependencies(tests diffbot skidsteerbot)
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add_rostest_gtest(diff_drive_test
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test/diff_drive_controller.test
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test/diff_drive_test.cpp
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)
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target_link_libraries(diff_drive_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_nan_test
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test/diff_drive_controller_nan.test
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test/diff_drive_nan_test.cpp
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)
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target_link_libraries(diff_drive_nan_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_limits_test
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test/diff_drive_controller_limits.test
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test/diff_drive_limits_test.cpp
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)
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target_link_libraries(diff_drive_limits_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_timeout_test
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test/diff_drive_timeout.test
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test/diff_drive_timeout_test.cpp
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)
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target_link_libraries(diff_drive_timeout_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest(test/diff_drive_multipliers.test)
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add_rostest(test/diff_drive_left_right_multipliers.test)
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add_rostest_gtest(diff_drive_fail_test
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test/diff_drive_wrong.test
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test/diff_drive_fail_test.cpp
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)
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target_link_libraries(diff_drive_fail_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_odom_tf_test
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test/diff_drive_odom_tf.test
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test/diff_drive_odom_tf_test.cpp
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)
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target_link_libraries(diff_drive_odom_tf_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_default_cmd_vel_out_test
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test/diff_drive_default_cmd_vel_out.test
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test/diff_drive_default_cmd_vel_out_test.cpp
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)
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target_link_libraries(diff_drive_default_cmd_vel_out_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_pub_cmd_vel_out_test
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test/diff_drive_pub_cmd_vel_out.test
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test/diff_drive_pub_cmd_vel_out_test.cpp
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)
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target_link_libraries(diff_drive_pub_cmd_vel_out_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_default_wheel_joint_controller_state_test
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test/diff_drive_default_wheel_joint_controller_state.test
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test/diff_drive_default_wheel_joint_controller_state_test.cpp
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)
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target_link_libraries(diff_drive_default_wheel_joint_controller_state_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_publish_wheel_joint_controller_state_test
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test/diff_drive_publish_wheel_joint_controller_state.test
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test/diff_drive_publish_wheel_joint_controller_state_test.cpp
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)
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target_link_libraries(diff_drive_publish_wheel_joint_controller_state_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_default_odom_frame_test
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test/diff_drive_default_odom_frame.test
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test/diff_drive_default_odom_frame_test.cpp
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)
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target_link_libraries(diff_drive_default_odom_frame_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_odom_frame_test
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test/diff_drive_odom_frame.test
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test/diff_drive_odom_frame_test.cpp
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)
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target_link_libraries(diff_drive_odom_frame_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest_gtest(diff_drive_multiple_cmd_vel_publishers_test
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test/diff_drive_multiple_cmd_vel_publishers.test
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test/diff_drive_multiple_cmd_vel_publishers_test.cpp
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)
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target_link_libraries(diff_drive_multiple_cmd_vel_publishers_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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add_rostest(test/diff_drive_open_loop.test)
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add_rostest(test/skid_steer_controller.test)
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add_rostest(test/skid_steer_no_wheels.test)
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add_rostest(test/diff_drive_radius_sphere.test)
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add_rostest(test/diff_drive_radius_param.test)
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add_rostest(test/diff_drive_radius_param_fail.test)
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add_rostest(test/diff_drive_separation_param.test)
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add_rostest(test/diff_drive_bad_urdf.test)
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add_rostest(test/diff_drive_get_wheel_radius_fail.test)
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add_rostest_gtest(diff_drive_dyn_reconf_test
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test/diff_drive_dyn_reconf.test
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test/diff_drive_dyn_reconf_test.cpp
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)
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target_link_libraries(diff_drive_dyn_reconf_test ${catkin_LIBRARIES} ${test_LIBRARIES})
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endif()
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#############
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## Install ##
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#############
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# Install headers
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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# Install library
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install(TARGETS ${PROJECT_NAME}
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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_GLOBAL_BIN_DESTINATION}
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)
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# Install plugins
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install(FILES diff_drive_controller_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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