| ############################################################################# |
| # Copyright (c) 2018 fortiss GmbH |
| # This program and the accompanying materials are made available under the |
| # terms of the Eclipse Public License 2.0 which is available at |
| # http://www.eclipse.org/legal/epl-2.0. |
| # |
| # SPDX-License-Identifier: EPL-2.0 |
| # |
| # Contributors: |
| # Ben Schneider - initial API and implementation and/or initial documentation |
| ############################################################################# |
| |
| ############################################################################# |
| # ROS Example Publish and Subscribe FBs |
| ############################################################################# |
| |
| forte_add_module(ROS "Function Blocks to communicate with ROS (publish/subscribe)") |
| |
| if (FORTE_MODULE_ROS) |
| forte_add_include_directories(${CMAKE_CURRENT_SOURCE_DIR}) |
| |
| forte_add_definition("-DFORTE_ROS") |
| |
| ############################################################################# |
| # Communication Layer for ROS (publish, subscribe) |
| ############################################################################# |
| |
| forte_add_handler(CROSManager ROSManager) |
| forte_add_handler(CServiceCallManager ServiceCallManager) |
| |
| |
| forte_add_network_layer(ROS ON "ros" CROSLayer ROSLayer "Layer for providing and receiving data to/from ROS via publish/subscribe") |
| |
| forte_add_sourcefile_hcpp(ROSManager) |
| forte_add_sourcefile_hcpp(ServiceCallManager) |
| forte_add_sourcefile_hcpp(TRIGGER_SERVICE_CLIENT) |
| forte_add_sourcefile_hcpp(TRIGGER_SERVICE_SERVER) |
| forte_add_sourcefile_hcpp(EXECUTE_ACTION_CLIENT) |
| forte_add_sourcefile_hcpp(EXECUTE_ACTION_SERVER) |
| |
| |
| find_package(catkin QUIET COMPONENTS actionlib reapp_msgs roscpp std_msgs std_srvs topic_tools) |
| if (catkin_FOUND) |
| forte_add_include_directories(${catkin_INCLUDE_DIRS}) |
| else() |
| forte_add_link_directories(/opt/ros/indigo/lib) |
| forte_add_include_system_directories(/opt/ros/indigo/include) |
| |
| set(catkin_LIBRARIES |
| -lroscpp |
| -lrosconsole |
| -lroscpp_serialization |
| -ltopic_tools |
| -lactionlib |
| |
| -lrostime |
| -lboost_system |
| -lboost_thread |
| ) |
| endif(catkin_FOUND) |
| |
| forte_add_link_library(${catkin_LIBRARIES}) |
| |
| endif(FORTE_MODULE_ROS) |
