CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(dawn_ik)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++17)

## Further optimizations
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -Wno-int-to-pointer-cast")

## Disable assertions for more performance (maybe a little)
#set(EIGEN_NO_DEBUG "1")
#set(NDEBUG "1")

# Memory error sanitizer
#add_compile_options(-fsanitize=address -fno-omit-frame-pointer)
#add_link_options(-fsanitize=address -fno-omit-frame-pointer)

## 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 COMPONENTS
  std_msgs
  std_srvs
  roscpp
  rospy
  moveit_core
  moveit_msgs
  moveit_ros_planning
  moveit_ros_planning_interface
  moveit_visual_tools
  tf2
  tf2_eigen
  visualization_msgs
  message_generation
  sensor_msgs
  control_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
find_package(Ceres REQUIRED COMPONENTS EigenSparse SparseLinearAlgebraLibrary LAPACK SuiteSparse SchurSpecializations)
find_package(hpp-fcl 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 tag for "message_generation"
##   * 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 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 ...)
##   * 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(
  DIRECTORY msg
  FILES
  LinkState.msg
  CollisionState.msg
  JointLinkState.msg
  JointLinkCollisionState.msg
  SolverSummary.msg
  IKGoal.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 sensor_msgs)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * 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 ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## 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 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 ${PROJECT_NAME}
  CATKIN_DEPENDS roscpp rospy message_runtime
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${hpp-fcl_INCLUDE_DIRS}
)

set (SOLVER_NODE_SRC
  src/nodes/solver_node.cpp
  src/dawn_ik.cpp
  src/joint_trajectory_control_interface.cpp
  src/robot_monitor.cpp
)

list (APPEND robot_targets horti lite6 mick mick_other trolley)

############# solver_node executable for each defined robot ###########
foreach(target IN LISTS robot_targets)
  string(TOUPPER ${target} target_upper)
  string(CONCAT enable_target "-DUSE_" ${target_upper} "=1") 
  string(CONCAT target_name "solver_node_" ${target})
  add_executable(${target_name} ${SOLVER_NODE_SRC})
  target_compile_definitions(${target_name} PRIVATE ${enable_target})
  add_dependencies(${target_name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  target_link_libraries(${target_name} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${hpp-fcl_LIBRARIES} Ceres::ceres)
endforeach()

############# solver_node executable for autogen_test.h ###########
add_executable(solver_node ${SOLVER_NODE_SRC})
add_dependencies(solver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(solver_node ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${hpp-fcl_LIBRARIES} Ceres::ceres)

############# robot_parser_node executable ###########
add_executable(robot_parser_node 
  src/nodes/robot_parser_node.cpp
  src/robot_parser.cpp
  src/yaml.cpp
)
add_dependencies(robot_parser_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(robot_parser_node
  ${catkin_LIBRARIES}
  ${Boost_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
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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_dawn_ik.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)