CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(franka_robot_controller_pi)

set(CMAKE_BUILD_TYPE Release)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(catkin REQUIRED COMPONENTS
  controller_interface
  dynamic_reconfigure
  franka_hw
  geometry_msgs
  hardware_interface
  message_generation
  pluginlib
  realtime_tools
  roscpp
  rospy
)

find_package(Eigen3 REQUIRED)
find_package(Franka 0.5.0 REQUIRED)

#add_message_files(FILES
#  JointTorqueComparison.msg
#)

#generate_messages()

#generate_dynamic_reconfigure_options(
#  cfg/compliance_param.cfg
#  cfg/desired_mass_param.cfg
#)

catkin_package(
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS
    controller_interface
    dynamic_reconfigure
    franka_hw
    geometry_msgs
    hardware_interface
    message_runtime
    pluginlib
    realtime_tools
    roscpp
  DEPENDS Franka
)

add_executable(franka_robot_teleop src/teleop_cmd.cpp)
target_link_libraries(franka_robot_teleop ${catkin_LIBRARIES})
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)


add_library(${PROJECT_NAME}
  src/franka_robot_jointposition_controller.cpp  
)
add_dependencies(${PROJECT_NAME}
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
  ${PROJECT_NAME}_generate_messages_cpp
  ${PROJECT_NAME}_gencpp
  ${PROJECT_NAME}_gencfg
)
target_link_libraries(${PROJECT_NAME} PUBLIC
  ${Franka_LIBRARIES}  
  ${catkin_LIBRARIES}
)

target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
  ${Franka_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)
target_include_directories(${PROJECT_NAME} PUBLIC
  include
   ${catkin_INCLUDE_DIRS}
)

## Installation
install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY config
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES franka_robot_controllers_plugin.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#catkin_install_python(
#  PROGRAMS scripts/interactive_marker.py scripts/move_to_start.py
#  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)

## Tools
include(${CMAKE_CURRENT_LIST_DIR}/../cmake/ClangTools.cmake OPTIONAL
  RESULT_VARIABLE CLANG_TOOLS
)
if(CLANG_TOOLS)
  file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
  file(GLOB_RECURSE HEADERS
    ${CMAKE_CURRENT_SOURCE_DIR}/include/*.h
    ${CMAKE_CURRENT_SOURCE_DIR}/src/*.h
  )
  add_format_target(${PROJECT_NAME} FILES ${SOURCES} ${HEADERS})
  add_tidy_target(${PROJECT_NAME}
    FILES ${SOURCES}
    DEPENDS ${PROJECT_NAME}
  )
endif()