← Back to branch summary

~guihome/sr-ros-interface/compatibility_manipstack2

« back to all changes in this revision

Viewing changes to sr_hand/CMakeLists.txt

  • Committer: Ugo Cupcic
  • Date: 2012-07-20 13:18:06 UTC
  • mfrom: (366.1.1 shadow_robot)
  • Revision ID: ugo@shadowrobot.com-20120720131806-t3cxkv09p7cpgdyy
Extracted and adapted modifications needed to shadow stack from the manip-electric version to be compatible with sr-manipulation electric and to run in real. Works without manipulation stack also, but requires some testing of all the launch files. New dae meshes are currently with wrong colors but are working.

Show diffs side-by-side

added added

removed removed

Lines of Context:
sr_hand/CMakeLists.txt
30
30
#Gazebo
31
31
SET(gazebo_support $ENV{GAZEBO})
32
32
MESSAGE("--------- Shadow Robot Package Configuration:")
33
 
IF(DEFINED gazebo_support)
 
33
IF(gazebo_support)
34
34
  SET( CMAKE_CXX_FLAGS "-D GAZEBO")
35
35
  MESSAGE(" [x] Gazebo support")
36
 
ELSE(DEFINED gazebo_support)
 
36
ELSE(gazebo_support)
37
37
  MESSAGE(" [ ] Gazebo support")
38
 
ENDIF(DEFINED gazebo_support)
 
38
ENDIF(gazebo_support)
39
39
 
40
40
# Real Hand
41
41
SET(real_hand $ENV{REAL_HAND})
42
 
IF(DEFINED real_hand)
 
42
IF(real_hand)
43
43
  MESSAGE(" [x] Real Hand.")
44
 
ELSE(DEFINED real_hand)
 
44
ELSE(real_hand)
45
45
  MESSAGE(" [ ] Real Hand.")
46
 
ENDIF(DEFINED real_hand)
 
46
ENDIF(real_hand)
47
47
 
48
48
#Real Arm
49
49
SET(real_arm $ENV{REAL_ARM})
50
 
IF(DEFINED real_arm)
 
50
IF(real_arm)
51
51
  MESSAGE(" [x] Real Arm.")
52
 
ELSE(DEFINED real_arm)
 
52
ELSE(real_arm)
53
53
  MESSAGE(" [ ] Real Arm.")
54
 
ENDIF(DEFINED real_arm)
 
54
ENDIF(real_arm)
55
55
 
56
56
#Valves
57
57
SET(valves $ENV{VALVES})
58
 
IF(DEFINED valves)
 
58
IF(valves)
59
59
  MESSAGE(" [x] Valves.")
60
 
ELSE(DEFINED valves)
 
60
ELSE(valves)
61
61
  MESSAGE(" [ ] Valves.")
62
 
ENDIF(DEFINED valves)
 
62
ENDIF(valves)
63
63
MESSAGE("---------")
64
64
 
65
65
#EtherCAT compatibility Interface
66
66
SET(ethercat_compat $ENV{ETHERCAT})
67
 
IF(DEFINED ethercat_compat)
 
67
IF(ethercat_compat)
68
68
  MESSAGE(" [x] EtherCAT compatibility interface.")
69
 
ELSE(DEFINED ethercat_compat)
 
69
ELSE(ethercat_compat)
70
70
  MESSAGE(" [ ] EtherCAT compatibility interface.")
71
 
ENDIF(DEFINED ethercat_compat)
 
71
ENDIF(ethercat_compat)
72
72
 
73
73
##################
74
74
#  VIRTUAL ARM  #
95
95
##################
96
96
#    REAL HAND   #
97
97
##################
98
 
IF(DEFINED real_hand)
 
98
IF(real_hand)
99
99
  include_directories(/usr/realtime/include/)
100
100
  LINK_LIBRARIES(pthread)
101
101
  add_library(robot STATIC IMPORTED)
103
103
  rosbuild_add_executable(shadowhand_real src/hand/sr_articulated_robot.cpp src/hand/real_shadowhand.cpp src/sr_publisher.cpp src/sr_subscriber.cpp src/hand/real_shadowhand_node.cpp src/sr_diagnosticer.cpp)
104
104
  rosbuild_link_boost(shadowhand_real thread)
105
105
  target_link_libraries(shadowhand_real robot)
106
 
ENDIF(DEFINED real_hand)
 
106
ENDIF(real_hand)
107
107
 
108
108
#########################################
109
109
#  ETHERCAT COMPATIBILITY WRAPPER HAND  #
110
110
#########################################
111
 
IF(DEFINED ethercat_compat)
 
111
IF(ethercat_compat)
112
112
  rosbuild_add_executable(shadowhand_ethercat src/hand/sr_articulated_robot.cpp src/hand/etherCAT_compatibility_hand.cpp src/sr_publisher.cpp src/sr_subscriber.cpp src/hand/etherCAT_compatibility_hand_node.cpp src/sr_diagnosticer.cpp)
113
 
  rosbuild_add_executable(shadowarm_can src/hand/sr_articulated_robot.cpp src/hand/CAN_compatibility_arm.cpp src/sr_publisher.cpp src/sr_subscriber.cpp src/hand/CAN_compatibility_arm_node.cpp src/sr_diagnosticer.cpp)
114
113
  rosbuild_link_boost(shadowhand_virtual thread)
115
 
ENDIF(DEFINED ethercat_compat)
 
114
ENDIF(ethercat_compat)
 
115
 
 
116
###################################
 
117
#  CAN COMPATIBILITY WRAPPER ARM  #
 
118
###################################
 
119
rosbuild_add_executable(shadowarm_can src/hand/sr_articulated_robot.cpp src/hand/CAN_compatibility_arm.cpp src/sr_publisher.cpp src/sr_subscriber.cpp src/hand/CAN_compatibility_arm_node.cpp)
 
120
 
116
121
 
117
122
##################
118
123
#    REAL ARM    #
119
124
##################
120
 
IF(DEFINED real_arm)
 
125
IF(real_arm)
121
126
  include_directories(/usr/realtime/include/)
122
127
  LINK_LIBRARIES(pthread)
123
128
  rosbuild_add_executable(shadowarm_real src/hand/sr_articulated_robot.cpp src/hand/real_arm.cpp src/sr_publisher.cpp src/sr_subscriber.cpp src/hand/real_arm_node.cpp src/sr_diagnosticer.cpp)
124
129
  rosbuild_link_boost(shadowarm_real thread)
125
130
  target_link_libraries(shadowarm_real robot)
126
 
ENDIF(DEFINED real_arm)
 
131
ENDIF(real_arm)
127
132
 
128
133
##################
129
134
#     VALVES     #
130
135
##################
131
 
IF(DEFINED valves)
 
136
IF(valves)
132
137
  include_directories(/usr/realtime/include/)
133
138
  LINK_LIBRARIES(pthread)
134
139
  rosbuild_add_executable(sr_valves src/hand/valves.cpp src/hand/valves_node.cpp)
135
140
  rosbuild_link_boost(sr_valves thread)
136
141
  target_link_libraries(sr_valves robot)
137
 
ENDIF(DEFINED valves)
 
142
ENDIF(valves)
138
143
 
139
144
#####################################
140
145
#   dynamic parameters reconfigure  #