diff --git a/CMakeLists.txt b/CMakeLists.txt index 73f91c747c10eec4cf8343242ef65279fecaf7f7..926896be739aa4dd14a226a1e37a3985819f43f6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,35 +1,157 @@ -cmake_minimum_required(VERSION 2.4.6) -include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) +cmake_minimum_required(VERSION 2.8.3) +project(iri_base_driver) -set(PROJECT_NAME iri_base_driver) +## 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) -# Set the build type. Options are: -# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage -# Debug : w/ debug symbols, w/o optimization -# Release : w/o debug symbols, w/ optimization -# RelWithDebInfo : w/ debug symbols, w/ optimization -# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries -#set(ROS_BUILD_TYPE RelWithDebInfo) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) -rosbuild_init() +## 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() -#set the default path for built executables to the "bin" directory -set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -#set the default path for built libraries to the "lib" directory -set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) +################################################ +## Declare ROS messages, services and actions ## +################################################ -# edit the following line to add all the source code files of the library -SET(sources ./src/iri_base_driver.cpp) -# edit the following line to add all the header files of the library -SET(headers ./include/iri_base_driver.h ./include/iri_base_driver_node.h) +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) -INCLUDE_DIRECTORIES(${headers}) +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) -#common commands for building c++ executables and libraries -rosbuild_add_library(${PROJECT_NAME} SHARED ${sources}) -#target_link_libraries(${PROJECT_NAME} another_library) -#rosbuild_add_boost_directories() -#rosbuild_link_boost(${PROJECT_NAME} thread) -#rosbuild_add_executable(example examples/example.cpp) -#target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY}) +## 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 ${PROJECT_NAME} + CATKIN_DEPENDS roscpp driver_base dynamic_reconfigure +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +INCLUDE_DIRECTORIES(include) + +## Declare a cpp library +# add_library(foo +# src/${PROJECT_NAME}/foo.cpp +# ) +add_library(${PROJECT_NAME} src/iri_base_driver.cpp) + +## Declare a cpp executable +# add_executable(foo_node src/foo_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(foo_node foo_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(foo_node +# ${catkin_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 foo foo_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_foo.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) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..4b3baf87c2c552fde5cc19c1731a24b11b34f344 --- /dev/null +++ b/package.xml @@ -0,0 +1,49 @@ +<?xml version="1.0"?> +<package> + <name>iri_base_driver</name> + <version>1.0.0</version> + <description>The iri_base_driver package</description> + + <!-- One maintainer tag required, multiple allowed, one person per tag --> + <!-- Example: --> + <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> + <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer> + + + <!-- One license tag required, multiple allowed, one license per tag --> + <!-- Commonly used license strings: --> + <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> + <license>LGPL</license> + + + <!-- Url tags are optional, but mutiple are allowed, one per tag --> + <!-- Optional attribute type can be: website, bugtracker, or repository --> + <!-- Example: --> + <url type="website">http://wiki.ros.org/iri_base_driver</url> + + + <!-- Author tags are optional, mutiple are allowed, one per tag --> + <!-- Authors do not have to be maintianers, but could be --> + <!-- Example: --> + <!-- <author email="jane.doe@example.com">Jane Doe</author> --> + <author>Joan Perez</author> + + + <!-- The *_depend tags are used to specify dependencies --> + <!-- Dependencies can be catkin packages or system dependencies --> + <!-- Examples: --> + <!-- Use build_depend for packages you need at compile time: --> + <build_depend>roscpp</build_depend> + <build_depend>driver_base</build_depend> + <build_depend>dynamic_reconfigure</build_depend> + <!-- Use buildtool_depend for build tool packages: --> + <!-- <buildtool_depend>catkin</buildtool_depend> --> + <!-- Use run_depend for packages you need at runtime: --> + <run_depend>roscpp</run_depend> + <run_depend>driver_base</run_depend> + <run_depend>dynamic_reconfigure</run_depend> + <!-- Use test_depend for packages you need only for testing: --> + <!-- <test_depend>gtest</test_depend> --> + <buildtool_depend>catkin</buildtool_depend> + +</package>