Revision a2eda0ff8ee5ae24914a221562afdf5fe63ed4fc authored by Mateus Amarante on 22 September 2020, 07:39:15 UTC, committed by GitHub on 22 September 2020, 07:39:15 UTC
* Remove ros_controllers from UPSTREAM_WORKSPACE * Isolate source-based test + move ros_controllers to DOWNSTREAM_WORKSPACE * Fix ros_controllers downstream config + move UPSTREAM_WORKSPACE back to global * Add missing ROS_DISTRO definition on job 3
1 parent f6cec43
CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(controller_manager)
# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
controller_interface
controller_manager_msgs
hardware_interface
pluginlib
roscpp
)
catkin_python_setup()
# Declare a catkin package
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
${PROJECT_NAME}
CATKIN_DEPENDS
controller_interface
controller_manager_msgs
hardware_interface
pluginlib
roscpp
)
###########
## Build ##
###########
# Specify header include paths
include_directories(include ${catkin_INCLUDE_DIRS})
add_library(${PROJECT_NAME}
include/controller_manager/controller_loader.h
include/controller_manager/controller_loader_interface.h
include/controller_manager/controller_manager.h
src/controller_manager.cpp
)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
#############
## Testing ##
#############
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
add_rostest_gtest(${PROJECT_NAME}_hwi_switch_test
test/hwi_switch_test.test
test/hwi_switch_test.cpp
)
add_dependencies(${PROJECT_NAME}_hwi_switch_test ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_hwi_switch_test ${PROJECT_NAME} ${catkin_LIBRARIES})
add_rostest_gmock(${PROJECT_NAME}_hwi_update_test
test/hwi_update_test.test
test/hwi_update_test.cpp
)
add_dependencies(${PROJECT_NAME}_hwi_update_test ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_hwi_update_test ${PROJECT_NAME} ${catkin_LIBRARIES})
endif()
#############
## Install ##
#############
# Install python scripts
catkin_install_python(PROGRAMS scripts/controller_group
scripts/controller_manager
scripts/spawner
scripts/unspawner
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install headers
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
# Install targets
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
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