You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
65 lines
1.8 KiB
65 lines
1.8 KiB
cmake_minimum_required(VERSION 3.3)
|
|
project(whole_body_state_msgs)
|
|
|
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
|
|
# Set up project properties
|
|
set(PROJECT_NAME whole_body_state_msgs)
|
|
set(PROJECT_DESCRIPTION "Whole-body State ROS messages")
|
|
|
|
# Print initial message - using STATUS so it doesn't trigger as a warning
|
|
message(STATUS "${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
|
|
message(
|
|
STATUS
|
|
"Copyright (C) 2020-2023 Heriot-Watt University, University of Edinburgh")
|
|
message(STATUS " University of Oxford, IHMC")
|
|
message(STATUS "All rights reserved.")
|
|
message(STATUS "Released under the BSD 3-Clause License.")
|
|
|
|
if($ENV{ROS_VERSION} EQUAL 2) # ROS 2
|
|
# Find required packages
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(std_msgs REQUIRED)
|
|
find_package(geometry_msgs REQUIRED)
|
|
find_package(rosidl_default_generators REQUIRED)
|
|
|
|
# Define messages to be generated
|
|
rosidl_generate_interfaces(
|
|
${PROJECT_NAME}
|
|
"msg/CentroidalState.msg"
|
|
"msg/ContactState.msg"
|
|
"msg/JointCommand.msg"
|
|
"msg/JointState.msg"
|
|
"msg/WholeBodyController.msg"
|
|
"msg/WholeBodyState.msg"
|
|
"msg/WholeBodyTrajectory.msg"
|
|
DEPENDENCIES
|
|
std_msgs
|
|
geometry_msgs)
|
|
|
|
ament_export_dependencies(rosidl_default_runtime)
|
|
ament_package()
|
|
else() # ROS 1
|
|
# Find required packages
|
|
find_package(catkin REQUIRED COMPONENTS std_msgs geometry_msgs
|
|
message_generation)
|
|
|
|
# Define messages to be generated
|
|
add_message_files(
|
|
DIRECTORY
|
|
msg
|
|
FILES
|
|
JointCommand.msg
|
|
CentroidalState.msg
|
|
JointState.msg
|
|
ContactState.msg
|
|
WholeBodyState.msg
|
|
WholeBodyTrajectory.msg
|
|
WholeBodyController.msg)
|
|
|
|
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
|
|
|
|
# Define catkin dependencies
|
|
catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
|
|
endif()
|