Skip to content

Add HC10 ikfast plugin and moveit config #499

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ben-greenberg wants to merge 2 commits into
base: kinetic-devel
Choose a base branch
from
Open

Add HC10 ikfast plugin and moveit config #499

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
630a7ad
add hc10 ikfast plugin and moveit config
May 6, 2022
f13b859
remove call to moveit_build_options macro
May 27, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
46 changes: 46 additions & 0 deletions motoman_hc10_ikfast_plugin/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,46 @@
cmake_minimum_required(VERSION 3.1.3)
project(motoman_hc10_ikfast_plugin)


if(NOT "${CMAKE_CXX_STANDARD}")
set(CMAKE_CXX_STANDARD 14)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
find_package(catkin REQUIRED COMPONENTS
moveit_core
pluginlib
roscpp
tf2_kdl
tf2_eigen
)

find_package(LAPACK REQUIRED)

include_directories(include)
include_directories(SYSTEM ${catkin_INCLUDE_DIRS})

catkin_package()

set(IKFAST_LIBRARY_NAME motoman_hc10_manipulator_moveit_ikfast_plugin)
add_library(${IKFAST_LIBRARY_NAME} src/motoman_hc10_manipulator_ikfast_moveit_plugin.cpp)
target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES})
# suppress warnings about unused variables in OpenRave's solver code
target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable -Wno-unused-parameter)

install(TARGETS
${IKFAST_LIBRARY_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(
FILES
motoman_hc10_manipulator_moveit_ikfast_plugin_description.xml
DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION}
)
Loading