Sawyer机器人的Gazebo仿真界面___下载.zip

cmake_minimum_required(VERSION 3.0.2) project(sawyer_gazebo) find_package(catkin REQUIRED COMPONENTS sawyer_hardware_interface cv_bridge gazebo_ros gazebo_ros_control image_transport intera_core_msgs realtime_tools roscpp roslint std_msgs kdl_parser tf_conversions sns_ik_lib ) # Depend on system install of Gazebo find_package(GAZEBO REQUIRED) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") catkin_package( CATKIN_DEPENDS sawyer_hardware_interface gazebo_ros_control image_transport intera_core_msgs realtime_tools roscpp kdl_parser tf_conversions sns_ik_lib INCLUDE_DIRS include LIBRARIES sawyer_robot_hw_sim ) roslint_cpp() link_directories( ${GAZEBO_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS} ) include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ) add_library(sawyer_gazebo_ros_control src/sawyer_gazebo_ros_control_plugin.cpp src/assembly_interface.cpp src/arm_controller_interface.cpp src/arm_kinematics_interface.cpp src/head_interface.cpp ) set_property(TARGET sawyer_gazebo_ros_control PROPERTY CXX_STANDARD 14) target_link_libraries(sawyer_gazebo_ros_control ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ) add_library(sawyer_robot_hw_sim src/sawyer_robot_hw_sim.cpp) target_link_libraries(sawyer_robot_hw_sim ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ) add_dependencies( sawyer_gazebo_ros_control ${catkin_EXPORTED_TARGETS} ) install( TARGETS sawyer_gazebo_ros_control sawyer_robot_hw_sim LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ) install( FILES sawyer_robot_hw_sim_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( DIRECTORY config launch worlds share DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) install( DIRECTORY scripts DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} USE_SOURCE_PERMISSIONS )