Add dynamixel_general_hw package

dynamixel_general_hw/CMakeLists.txt

@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(dynamixel_general_hw)
+
+find_package(catkin REQUIRED COMPONENTS
+  controller_manager
+  dynamixel_workbench_msgs
+  dynamixel_workbench_toolbox
+  hardware_interface
+  joint_limits_interface
+  message_generation
+  roscpp
+  std_msgs
+  transmission_interface
+)
+
+add_message_files(
+  FILES
+  DynamixelState.msg
+  DynamixelStateList.msg
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES dynamixel_general_hw
+  CATKIN_DEPENDS
+  controller_manager
+  dynamixel_workbench_msgs
+  dynamixel_workbench_toolbox
+  hardware_interface
+  joint_limits_interface
+  message_runtime
+  roscpp
+  std_msgs
+  transmission_interface
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(dynamixel_general_hw src/dynamixel_general_hw.cpp)
+add_dependencies(dynamixel_general_hw ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(dynamixel_general_hw ${catkin_LIBRARIES})
+
+add_executable(dynamixel_general_control_node src/dynamixel_general_control_node.cpp)
+add_dependencies(dynamixel_general_control_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(dynamixel_general_control_node dynamixel_general_hw ${catkin_LIBRARIES})
+
+install(TARGETS dynamixel_general_control_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(TARGETS dynamixel_general_hw
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+install(DIRECTORY config launch urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)