cmake_minimum_required(VERSION 2.8.3)
project(marm_planning)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
## 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
actionlib
control_msgs
diagnostic_msgs
geometry_msgs
manipulation_msgs
moveit_msgs
moveit_ros_perception
moveit_ros_planning_interface
roscpp
rospy
sensor_msgs
shape_msgs
std_msgs
std_srvs
tf
trajectory_msgs
)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# control_msgs# diagnostic_msgs# geometry_msgs# manipulation_msgs# moveit_msgs# moveit_msgs# sensor_msgs# shape_msgs# std_msgs# trajectory_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES marm_planning
# CATKIN_DEPENDS actionlib control_msgs diagnostic_msgs geometry_msgs manipulation_msgs moveit_msgs moveit_msgs roscpp rospy sensor_msgs shape_msgs std_msgs std_srvs tf trajectory_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/marm_planning.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/marm_planning_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
add_executable(test_random_node src/test_random.cpp)
target_link_libraries(test_random_node ${catkin_LIBRARIES})
add_executable(test_custom_node src/test_custom.cpp)
target_link_libraries(test_custom_node ${catkin_LIBRARIES})
add_executable(add_collision_objct_node src/add_collision_objct.cpp)
target_link_libraries(add_collision_objct_node ${catkin_LIBRARIES})
add_executable(remove_collision_objct_node src/remove_collision_objct.cpp)
target_link_libraries(remove_collision_objct_node ${catkin_LIBRARIES})
add_executable(check_collision_node src/check_collision.cpp)
target_link_libraries(check_collision_node ${catkin_LIBRARIES})
add_executable(test_cartesian_path_node src/test_cartesian_path.cpp)
target_link_libraries(test_cartesian_path_node ${catkin_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_marm_planning.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add
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Gazebo+Rviz仿真机械臂控制工程包.zip
共54个文件
launch:15个
xml:12个
yaml:7个
5星 · 超过95%的资源 需积分: 50 67 下载量 46 浏览量
2020-04-08
10:33:25
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该代码是基于嵌入式系统开发与应用的ROS学习下的仿真机械臂的搭建,通过该包,你可以在gazebo和Rviz中模拟机械臂的使用,配合林君学长的博客,你就可以完美的实现机械臂的模拟过程啦
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收起资源包目录
Gazebo+Rviz仿真机械臂控制工程包.zip (54个子文件)
marm_planning
src
remove_collision_objct.cpp 763B
add_collision_objct.cpp 2KB
test_custom.cpp 1KB
test_random.cpp 677B
test_cartesian_path.cpp 1KB
check_collision.cpp 5KB
CMakeLists.txt 8KB
scripts
moveit_cartesian_demo.py 5KB
moveit_fk_demo.py 2KB
moveit_pick_and_place_demo.py 14KB
moveit_obstacles_demo.py 6KB
moveit_ik_demo.py 3KB
package.xml 3KB
marm_description
urdf
arm.xacro 13KB
launch
view_arm.launch 789B
CMakeLists.txt 7KB
urdf.rviz 6KB
package.xml 2KB
marm_moveit_config
config
fake_controllers.yaml 216B
ompl_planning.yaml 10KB
joint_limits.yaml 1KB
controllers.yaml 464B
arm.srdf 4KB
kinematics.yaml 178B
.setup_assistant 260B
launch
arm_moveit_controller_manager.launch.xml 438B
default_warehouse_db.launch 709B
joystick_control.launch 629B
move_group.launch 3KB
trajectory_execution.launch.xml 1KB
fake_moveit_controller_manager.launch.xml 367B
planning_context.launch 1KB
setup_assistant.launch 537B
warehouse.launch 526B
moveit.rviz 19KB
planning_pipeline.launch.xml 332B
sensor_manager.launch.xml 641B
moveit_planning_execution.launch 767B
ompl_planning_pipeline.launch.xml 963B
run_benchmark_ompl.launch 898B
demo.launch 2KB
warehouse_settings.launch.xml 681B
moveit_rviz.launch 666B
arm_moveit_sensor_manager.launch.xml 20B
CMakeLists.txt 307B
package.xml 1KB
marm_gazebo
config
arm_gazebo_joint_states.yaml 176B
trajectory_control.yaml 742B
launch
arm_world.launch 1KB
arm_bringup_moveit.launch 509B
arm_trajectory_controller.launch 292B
arm_gazebo_states.launch 629B
CMakeLists.txt 7KB
package.xml 2KB
共 54 条
- 1
资源评论
- Asama浅间2023-07-26这个工程包对于学习机械臂控制以及进行相关研究具有很大的帮助。
- yiyi分析亲密关系2023-07-26文件压缩包中提供了清晰简洁的使用说明,让初学者也能轻松上手。
- 王者丶君临天下2023-07-26虽然有一些小瑕疵,但总体来说,这是一个非常实用的工具包。
- 耄先森吖2023-07-26这个文件提供了一套完整的仿真机械臂控制工程包,非常实用。
- 首席程序IT2023-07-26使用该工程包进行机械臂仿真控制,功能齐全,表现稳定可靠。
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