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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(synapticon_ros2_control)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
)
find_package(ament_cmake REQUIRED)
foreach(dep IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${dep} REQUIRED)
endforeach()
# SOEM library
set(OS "linux")
set(OS_LIBS pthread rt)
file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
file(GLOB OSAL_SOURCES osal/${OS}/*.c)
file(GLOB OSHW_HEADERS oshw/${OS}/*.h)
file(GLOB OSHW_SOURCES oshw/${OS}/*.c)
file(GLOB SOEM_HEADERS soem/*.h)
file(GLOB SOEM_SOURCES soem/*.c)
add_library(synapticon_soem STATIC
${SOEM_SOURCES}
${OSAL_SOURCES}
${OSHW_SOURCES}
${OSHW_EXTRA_SOURCES})
# This is related to linking this STATIC library against SHARED libraries
# See https://stackoverflow.com/a/38297422/3499467
set_property(TARGET synapticon_soem PROPERTY POSITION_INDEPENDENT_CODE ON)
target_link_libraries(synapticon_soem ${OS_LIBS})
target_include_directories(synapticon_soem PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/osal>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/osal/${OS}>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/oshw/${OS}>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/soem>
$<INSTALL_INTERFACE:include/synapticon_ros2_control>
)
# ros2_control plugin library
add_library(
synapticon_ros2_control
SHARED
src/synapticon_interface.cpp
)
target_include_directories(synapticon_ros2_control PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/osal>
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/osal/${OS}>
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/oshw/${OS}>
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/soem>
)
target_link_libraries(synapticon_ros2_control synapticon_soem)
ament_target_dependencies(
synapticon_ros2_control
${THIS_PACKAGE_INCLUDE_DEPENDS}
)
# Export hardware plugins
pluginlib_export_plugin_description_file(hardware_interface synapticon_ros2_control.xml)
# A simple executable to test Synapticon connection without ros2_control
add_executable(torque_control_executable src/torque_control_executable.cpp)
target_link_libraries(torque_control_executable synapticon_soem)
ament_target_dependencies(torque_control_executable
${THIS_PACKAGE_INCLUDE_DEPENDS})
install(
DIRECTORY include/
DESTINATION include/synapticon_ros2_control
)
install(
TARGETS synapticon_ros2_control synapticon_soem torque_control_executable
EXPORT synapticon_soem
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(FILES
${SOEM_HEADERS}
${OSAL_HEADERS}
${OSHW_HEADERS}
DESTINATION include/synapticon_ros2_control
)
install(
DIRECTORY description/ros2_control description/urdf
DESTINATION share/synapticon_ros2_control
)
install(
DIRECTORY bringup/launch bringup/config
DESTINATION share/synapticon_ros2_control
)
if(BUILD_TESTING)
# TODO
endif()
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_export_include_directories(
include
${CMAKE_CURRENT_SOURCE_DIR}/osal
${CMAKE_CURRENT_SOURCE_DIR}/osal/${OS}
${CMAKE_CURRENT_SOURCE_DIR}/oshw/${OS}
${CMAKE_CURRENT_SOURCE_DIR}/soem
)
# Install meshes directory
install(DIRECTORY meshes/
DESTINATION share/${PROJECT_NAME}/meshes
)
ament_export_targets(synapticon_soem HAS_LIBRARY_TARGET)
ament_package()