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Using ROS 2 dependencies #1

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Merged
merged 2 commits into from
Jul 19, 2024
Merged

Using ROS 2 dependencies #1

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0a24e4f
make xbot2_interface installable with ROS 2 dependencies + deb packag…
marcbone Jul 11, 2024
6f13dd3
reenable python and fix install location
marcbone Jul 12, 2024
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8 changes: 6 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@ option(XBOT2_IFC_BUILD_TESTS "Build tests" OFF)
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(ROS_DISTRO $ENV{ROS_DISTRO} )
set(SRDFDOM_INCLUDE_DIR /opt/ros/${ROS_DISTRO}/include)
set(CMAKE_INSTALL_RPATH $ORIGIN)
set(CMAKE_BUILD_RPATH "$ORIGIN;$ORIGIN/pinocchio;$ORIGIN/rbdl;$ORIGIN/ros")

Expand Down Expand Up @@ -47,6 +49,7 @@ target_link_libraries(xbot2_interface
PUBLIC
${urdf_LIBRARIES}
${srdfdom_LIBRARIES}
srdfdom::srdfdom
Eigen3::Eigen)

target_compile_options(xbot2_interface
Expand All @@ -63,6 +66,7 @@ target_compile_definitions(xbot2_interface

target_include_directories(xbot2_interface
PUBLIC
${SRDFDOM_INCLUDE_DIR}
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}>
Expand Down Expand Up @@ -96,7 +100,7 @@ if(${XBOT2_IFC_BUILD_RBDL})
endif()

if(${XBOT2_IFC_BUILD_ROS})
add_subdirectory(ros/)
#add_subdirectory(ros/)
endif()

if(${XBOT2_IFC_BUILD_COLLISION})
Expand All @@ -105,7 +109,7 @@ endif()

add_subdirectory(python)

add_subdirectory(examples)
#add_subdirectory(examples)

if(${XBOT2_IFC_BUILD_TESTS})
enable_testing()
Expand Down
12 changes: 12 additions & 0 deletions cmake/ExportProject.cmake
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Expand Up @@ -45,4 +45,16 @@ function(export_project)
DESTINATION lib/cmake/${PROJECT_NAME}
)

## Packaging
set(CPACK_PACKAGE_VENDOR "Gauss Robotics GmbH")
set(CPACK_GENERATOR "DEB;TGZ")
set(CPACK_PACKAGE_VERSION 1.0.0)
set(CPACK_SYSTEM_NAME ${CMAKE_HOST_SYSTEM_PROCESSOR})

# Debian versions require a dash
set(CPACK_DEBIAN_PACKAGE_VERSION ${CPACK_PACKAGE_VERSION}-1)
set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Gauss Robotics GmbH")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-all-dev, ros-${ROS_DISTRO}-srdfdom, ros-${ROS_DISTRO}-pinocchio, ros-${ROS_DISTRO}-tf2-eigen-kdl, ros-${ROS_DISTRO}-hpp-fcl, ros-${ROS_DISTRO}-geometric-shapes, ros-${ROS_DISTRO}-moveit-core")
include(CPack)

endfunction()
4 changes: 4 additions & 0 deletions include/xbot2_interface/xbotinterface2.h
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Expand Up @@ -5,6 +5,10 @@
#include <urdf_model/model.h>
#include <srdfdom/model.h>

#include <iostream>
#include <list>
#include <set>

#include "chain.h"
#include "joint.h"
#include "imu.h"
Expand Down
6 changes: 1 addition & 5 deletions python/CMakeLists.txt
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Expand Up @@ -9,11 +9,7 @@ if(${pybind11_FOUND} AND ${COMPILE_PYTHON_BINDINGS})
message(STATUS "Found python (${Python3_EXECUTABLE}) will compile python bindings")

# get python install path
execute_process(
COMMAND ${Python3_EXECUTABLE} -c "import site, os; print(os.path.relpath(site.USER_SITE, site.USER_BASE))"
OUTPUT_VARIABLE PYTHON_SITE
OUTPUT_STRIP_TRAILING_WHITESPACE)

set(PYTHON_SITE "lib/python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}/dist-packages")
message(STATUS "Python install dir: ${PYTHON_SITE}")

include_directories(${CMAKE_CURRENT_SOURCE_DIR})
Expand Down