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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(tricycle_drive_controller)
find_package(catkin REQUIRED COMPONENTS
controller_interface
urdf
realtime_tools
tf
nav_msgs
control_toolbox)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
)
include_directories(
include ${catkin_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME} src/tricycle_drive_controller.cpp src/odometry.cpp src/speed_limiter.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(FILES tricycle_drive_controller_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
# if (CATKIN_ENABLE_TESTING)
# find_package(catkin COMPONENTS rostest std_srvs controller_manager tf)
# include_directories(include ${catkin_INCLUDE_DIRS})
#
# add_executable(diffbot test/diffbot.cpp)
# target_link_libraries(diffbot ${catkin_LIBRARIES})
#
# add_executable(skidsteerbot test/skidsteerbot.cpp)
# target_link_libraries(skidsteerbot ${catkin_LIBRARIES})
#
# add_dependencies(tests diffbot skidsteerbot)
#
# add_rostest_gtest(diff_drive_test
# test/tricycle_drive_controller.test
# test/diff_drive_test.cpp)
# target_link_libraries(diff_drive_test ${catkin_LIBRARIES})
# add_rostest_gtest(diff_drive_nan_test
# test/diff_drive_controller_nan.test
# test/diff_drive_nan_test.cpp)
# target_link_libraries(diff_drive_nan_test ${catkin_LIBRARIES})
# add_rostest_gtest(diff_drive_limits_test
# test/diff_drive_controller_limits.test
# test/diff_drive_limits_test.cpp)
# target_link_libraries(diff_drive_limits_test ${catkin_LIBRARIES})
# add_rostest_gtest(diff_drive_timeout_test
# test/diff_drive_timeout.test
# test/diff_drive_timeout_test.cpp)
# target_link_libraries(diff_drive_timeout_test ${catkin_LIBRARIES})
# add_rostest(test/diff_drive_multipliers.test)
# add_rostest_gtest(diff_drive_fail_test
# test/diff_drive_wrong.test
# test/diff_drive_fail_test.cpp)
# target_link_libraries(diff_drive_fail_test ${catkin_LIBRARIES})
# add_rostest_gtest(diff_drive_odom_tf_test
# test/diff_drive_odom_tf.test
# test/diff_drive_odom_tf_test.cpp)
# target_link_libraries(diff_drive_odom_tf_test ${catkin_LIBRARIES})
# add_rostest(test/diff_drive_open_loop.test)
# add_rostest(test/skid_steer_controller.test)
# add_rostest(test/skid_steer_no_wheels.test)
# add_rostest(test/diff_drive_radius_param.test)
# add_rostest(test/diff_drive_radius_param_fail.test)
# add_rostest(test/diff_drive_separation_param.test)
# add_rostest(test/diff_drive_bad_urdf.test)
# endif()