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updated to latest implementation

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This commit is contained in:
Ruixiang Du
2019-10-10 11:19:24 +08:00
parent d3b083b386 ef72005125
commit ad4a2455cb
4461 changed files with 4820 additions and 518157 deletions
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50
scout_base/CMakeLists.txt
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@@ -4,9 +4,10 @@ project(scout_base)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
controller_manager
hardware_interface
# cmake module path
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
find_package(catkin REQUIRED COMPONENTS
roslaunch
roslint
roscpp
@@ -14,8 +15,13 @@ find_package(catkin REQUIRED COMPONENTS
std_msgs
geometry_msgs
scout_msgs
tf)
scout_sdk
tf2
tf2_ros
)
# find_package(LCM REQUIRED)
# find_package(Boost REQUIRED COMPONENTS chrono)
###################################
@@ -24,8 +30,8 @@ find_package(catkin REQUIRED COMPONENTS
catkin_package(
INCLUDE_DIRS include
LIBRARIES scoutbase
CATKIN_DEPENDS hardware_interface scout_msgs roscpp sensor_msgs
LIBRARIES scout_messenger
CATKIN_DEPENDS scout_msgs roscpp sensor_msgs scout_sdk
# DEPENDS Boost
)
@@ -38,31 +44,35 @@ catkin_package(
include_directories(
include
${catkin_INCLUDE_DIRS}
${LCM_INCLUDE_DIRS}
)
# add scout sdk
add_subdirectory(src/scout_sdk)
add_library(scout_messenger STATIC src/scout_messenger.cpp)
target_link_libraries(scout_messenger scoutbase ${catkin_LIBRARIES})
target_link_libraries(scout_messenger ${catkin_LIBRARIES})
set_property(TARGET scout_messenger PROPERTY POSITION_INDEPENDENT_CODE ON)
add_executable(scout_base_node src/scout_base_node.cpp)
target_link_libraries(scout_base_node scoutbase scout_messenger ${catkin_LIBRARIES})
target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
# add_executable(imu_broadcast_node src/imu_broadcast_node.cpp)
# target_link_libraries(imu_broadcast_node ${catkin_LIBRARIES} ${LCM_LIBRARIES})
#############
## Install ##
#############
# roslaunch_add_file_check(launch)
roslaunch_add_file_check(launch)
# install(TARGETS scoutcpp scoutio scout_base
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(TARGETS scout_messenger scout_base_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
# install(DIRECTORY launch config
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY include/lcmtypes
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
install(DIRECTORY launch urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})