Commit cfb8897c authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[cmake] Switch name from pyrene_integration_tests to

talos_integration_tests
Simplifies CMakeLists.txt
parent c909ea08
......@@ -2,102 +2,66 @@
#
# Author: Olivier Stasse
#
# See LICENSE
cmake_minimum_required(VERSION 2.8.3)
# See LICENSE
cmake_minimum_required(VERSION 3.1)
# Project properties
SET(PROJECT_ORG stack-of-tasks)
SET(PROJECT_NAME talos_integration_tests)
SET(PROJECT_DESCRIPTION "Talos integration tests")
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
set(CXX_DISABLE_WERROR True)
# Project configuration
SET(CATKIN_ENABLE_TESTING ON)
set(WARNING_CXX_FLAGS "${WARNING_CXX_FLAGS} -Werror=format-security")
include(cmake/base.cmake)
include(cmake/ros.cmake)
include(cmake/GNUInstallDirs.cmake)
include(cmake/python.cmake)
project(pyrene_integration_tests)
# Project definition
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
find_package(PkgConfig REQUIRED)
# Project dependencies
FINDPYTHON()
#set(bullet_FOUND 0)
#pkg_check_modules(bullet REQUIRED bullet)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
controller_interface
pal_hardware_interfaces
roscpp
SET(CATKIN_REQUIRED_COMPONENTS
rospy
std_msgs
dynamic_graph_bridge
control_msgs
sensor_msgs
realtime_tools
roscontrol_sot
talos_gazebo
)
## LAAS cmake submodule part
set(PROJECT_DESCRIPTION "Integration of the Stack of Tasks in roscontrol")
set(PROJECT_NAME pyrene_integration_tests)
set(PROJECT_URL "https://gepgitlab.laas.fr/pyrene-dev/pyrene_integration_tests")
roscontrol_sot_talos
dynamic_graph_bridge_msgs
)
find_package(catkin REQUIRED COMPONENTS
${CATKIN_REQUIRED_COMPONENTS}
)
include_directories(include ${bullet_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
link_directories(${bullet_LIBRARY_DIRS})
SETUP_PROJECT()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
set(CMAKE_INSTALL_RPATH "${LIBRARY_OUTPUT_PATH}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${LIBRARY_OUTPUT_PATH}")
# This is necessary so that the pc file generated by catking is similar to the one
# done directly by jrl-cmake-modules
catkin_package(CATKIN_DEPENDS
roscpp realtime_tools message_runtime dynamic_graph_bridge pal_hardware_interfaces controller_interface
LIBRARIES rcsot_controller)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
#add_library()
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(roscontrol_sot_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
#target_link_libraries(rcsot_controller
# ${catkin_LIBRARIES}
# ${bullet_LIBRARIES}
# )
rospy
)
#pkg_config_use_dependency(rcsot_controller urdfdom)
add_project_dependency(dynamic_graph_bridge REQUIRED)
## Mark executables and/or libraries for installation
#install(TARGETS tests DESTINATION tests )
#ADD_EXECUTABLE(roscontrol-sot-parse-log
# src/roscontrol-sot-parse-log.cc)
# Installing python based scripts
catkin_install_python(PROGRAMS
scripts/test_kine.py
scripts/appli.py
scripts/appli_dcmZmpControl_file.py
scripts/start_talos_gazebo_kine.py
scripts/start_sot_talos_balance.py
scripts/test_kine.py
scripts/test_sot_talos_balance.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
foreach(dir launch tests)
......@@ -106,11 +70,9 @@ foreach(dir launch tests)
)
endforeach()
SETUP_PROJECT_FINALIZE()
catkin_add_nosetests(scripts/test_kine.py)
# Testing part
if(CATKIN_ENABLE_TESTING)
catkin_add_nosetests(scripts/test_kine.py)
find_package(rostest REQUIRED)
add_rostest(tests/test_kine.test)
endif()
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