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cmake_minimum_required(VERSION 2.8.3)
project(darwin_controller_cpp)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED roscpp urdf controller_interface hardware_interface controller_manager sensor_msgs gazebo_ros)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
FIND_PACKAGE(iriutils REQUIRED)
FIND_PACKAGE(comm REQUIRED)
FIND_PACKAGE(dynamixel REQUIRED)
find_package(gazebo REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_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 ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
###################################
## catkin specific configuration ##
###################################
## 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
## 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 ${PROJECT_NAME}
CATKIN_DEPENDS roscpp urdf controller_interface hardware_interface controller_manager sensor_msgs gazebo_ros
# DEPENDS system_lib
)
###########
## Build ##
###########
link_directories(${GAZEBO_LIBRARY_DIRS})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
SET(DARWIN_FW_PATH ~/humanoids/darwin_stm32_fw)
SET(STM32_HAL_PATH ~/humanoids/stm32_hal)
SET(STM32_LIBRARIES_PATH ~/humanoids/stm32_libraries)
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(include include/sim ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
include_directories(${DARWIN_FW_PATH}/include/)
include_directories(${STM32_LIBRARIES_PATH}/dynamixel_base/include)
include_directories(${STM32_LIBRARIES_PATH}/comm/include)
include_directories(${STM32_LIBRARIES_PATH}/f1/usart/include)
include_directories(${STM32_LIBRARIES_PATH}/utils/include)
include_directories(${STM32_HAL_PATH}/f1/include)
include_directories(${STM32_HAL_PATH}/f1/include/core)
include_directories(${iriutils_INCLUDE_DIR})
include_directories(${comm_INCLUDE_DIR})
include_directories(${dynamixel_INCLUDE_DIR})
include_directories(${GAZEBO_INCLUDE_DIRS})
add_definitions(-DSTM32F103xE)
add_definitions(-DUSE_HAL_DRIVER)
## Declare a cpp library
# add_library(darwin_controller
# src/${PROJECT_NAME}/darwin_controller.cpp
# )
add_library(${PROJECT_NAME} src/darwin_controller_cpp.cpp
${DARWIN_FW_PATH}/src/ram.c
${DARWIN_FW_PATH}/src/action.c
${DARWIN_FW_PATH}/src/walking.c
${DARWIN_FW_PATH}/src/darwin_kinematics.c
${DARWIN_FW_PATH}/src/darwin_math.c
${DARWIN_FW_PATH}/src/motion_pages.c
${DARWIN_FW_PATH}/src/joint_motion.c
${DARWIN_FW_PATH}/src/head_tracking.c
${DARWIN_FW_PATH}/src/motion_manager.c
${DARWIN_FW_PATH}/src/smart_charger.c
${DARWIN_FW_PATH}/src/grippers.c
${DARWIN_FW_PATH}/src/gpio.c
${DARWIN_FW_PATH}/src/stairs.c
${DARWIN_FW_PATH}/src/adc_dma.c
src/sim/stm32_hal.c
src/sim/stm32_cortex.c
src/sim/stm32_gpio.c
src/sim/stm32_timer.c
src/sim/stm32_timer_ex.c
src/sim/stm32_dma.c
src/sim/stm32_dyn_master.c
src/sim/stm32_dyn_slave.c
src/sim/stm32_dyn_master_servos.c
src/sim/stm32_dyn_master_v2_servos.c
src/sim/stm32_eeprom.c
src/sim/imu.c
include/darwin_controller_cpp.h
include/darwin_controller_cpp_impl.h)
## Declare a cpp executable
# add_executable(darwin_controller_node src/darwin_controller_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(darwin_controller_cpp humanoid_common_msgs_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(darwin_controller_node
# ${catkin_LIBRARIES}
# )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${iriutils_LIBRARY})
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${comm_LIBRARY})
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${dynamixel_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${GAZEBO_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS darwin_controller darwin_controller_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_darwin_controller.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)