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