From 82003be92b85b91a4c411b4f4359d56f0db1f8c7 Mon Sep 17 00:00:00 2001 From: Walter Fetter Lages Date: Wed, 12 Dec 2018 16:26:40 -0200 Subject: [PATCH] Port to Melodic. --- CMakeLists.txt | 30 ++++++++++++--------------- package.xml | 65 ++++++++++++++++++++++++++++++++++++---------------------- 2 files changed, 53 insertions(+), 42 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2e7a3be..3b22625 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(computed_torque_controller) ## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +add_compile_options(-std=c++11) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) @@ -13,16 +13,15 @@ find_package(catkin REQUIRED COMPONENTS controller_manager kdl_parser # orocos_kdl + roscpp trajectory_msgs urdf ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) -#find_package(cmake_modules REQUIRED) -#find_package(Eigen REQUIRED) -#find_package(orocos_kdl REQUIRED) - +find_package(cmake_modules REQUIRED) +find_package(orocos_kdl REQUIRED) ## Uncomment this if the package has a setup.py. This macro ensures @@ -40,10 +39,10 @@ find_package(catkin REQUIRED COMPONENTS ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). ## * In the file package.xml: ## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in ## but can be declared for certainty nonetheless: -## * add a run_depend tag for "message_runtime" +## * add a exec_depend tag for "message_runtime" ## * In this file (CMakeLists.txt): ## * add "message_generation" and every package in MSG_DEP_SET to ## find_package(catkin REQUIRED COMPONENTS ...) @@ -88,7 +87,7 @@ find_package(catkin REQUIRED COMPONENTS ## To declare and build dynamic reconfigure parameters within this ## package, follow these steps: ## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" ## * In this file (CMakeLists.txt): ## * add "dynamic_reconfigure" to ## find_package(catkin REQUIRED COMPONENTS ...) @@ -106,15 +105,15 @@ find_package(catkin REQUIRED COMPONENTS ################################### ## The catkin_package macro generates cmake config files for your package ## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files +## INCLUDE_DIRS: uncomment this if your package contains header files ## LIBRARIES: libraries you create in this project that dependent projects also need ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( INCLUDE_DIRS include LIBRARIES computed_torque_controller - CATKIN_DEPENDS controller_interface controller_manager kdl_parser trajectory_msgs urdf -# DEPENDS Eigen orocos_kdl + CATKIN_DEPENDS controller_interface controller_manager kdl_parser roscpp trajectory_msgs urdf +# DEPENDS orocos_kdl ) ########### @@ -126,8 +125,6 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} -# TODO: Check names of system library include directories (Eigen) - ${Eigen_INCLUDE_DIRS} # ${orocos_kdl_INCLUDE_DIRS} ) @@ -144,7 +141,7 @@ add_library(${PROJECT_NAME} ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/ct_node.cpp) +# add_executable(${PROJECT_NAME}_node src/computed_torque_controller_node.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the @@ -157,9 +154,8 @@ add_library(${PROJECT_NAME} # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against - target_link_libraries(${PROJECT_NAME} +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} - ${Eigen_LIBRARIES} # ${orocos_kdl_LIBRARIES} ) @@ -203,7 +199,7 @@ install(TARGETS ${PROJECT_NAME} ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ct.cpp) +# catkin_add_gtest(${PROJECT_NAME}-test test/test_computed_torque_controller.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/package.xml b/package.xml index 4a1cd29..504f753 100644 --- a/package.xml +++ b/package.xml @@ -1,10 +1,10 @@ - + computed_torque_controller - 3.0.0 + 3.0.1 The computed_torque_controller package - + Walter Fetter Lages @@ -16,53 +16,68 @@ GPLv3 - + - - + + Walter Fetter Lages - + + + + + + + + - - + + + + catkin - - controller_manager + cmake_modules controller_interface - orocos_kdl + controller_manager kdl_parser + orocos_kdl + roscpp trajectory_msgs urdf - cmake_modules - - controller_manager - controller_interface - orocos_kdl - urdf - kdl_parser - trajectory_msgs + cmake_modules + controller_interface + controller_manager + kdl_parser + orocos_kdl + roscpp + trajectory_msgs + urdf + cmake_modules + controller_interface + controller_manager + kdl_parser + orocos_kdl + roscpp + trajectory_msgs + urdf - - - - - + + -- 2.12.0