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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(bobble_controllers)
add_compile_options(-std=c++11)
find_package(
catkin
REQUIRED COMPONENTS
control_msgs
controller_interface
controller_manager
message_generation
pluginlib
rospy
rostest
sensor_msgs
std_msgs
)
catkin_python_setup()
add_message_files(
FILES
BobbleBotStatus.msg
ControlCommands.msg
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
control_msgs
controller_interface
controller_manager
message_runtime
pluginlib
rospy
rostest
sensor_msgs
std_msgs
)
###########
## Build ##
###########
include_directories(include
${catkin_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME}
src/BobbleBalanceController.cpp
src/Filter.cpp
src/MadgwickAHRS.cpp
src/PidControl.cpp
)
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
)
#############
## Testing ##
#############
if (CATKIN_ENABLE_TESTING)
add_rostest_gtest(balance_controller_test
test/balance_controller.test
test/balance_controller_test.cpp)
target_link_libraries(balance_controller_test ${catkin_LIBRARIES})
add_rostest_gtest(no_balance_test
test/no_balance.test
test/no_balance_test.cpp)
target_link_libraries(no_balance_test ${catkin_LIBRARIES})
foreach(T
test/js_drive_square.test
test/impulse_force.test)
add_rostest(${T})
endforeach()
catkin_add_nosetests(test/parsing_test.py)
catkin_add_nosetests(test/plots_test.py)
endif()
#############
## Install ##
#############
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
catkin_install_python(
PROGRAMS
src/nodes/BobbleStateHold
src/nodes/JoystickControl
src/nodes/KeyboardControl
src/nodes/ApplyImpulse
DESTINATION
${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(FILES ${PROJECT_NAME}_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})