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adds ros2_control dependency #70

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adds ros2_control dependency #70

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89bf3d3
adds ros2_control dependency
kamiradi Mar 4, 2025
f73ddf8
removes spurious ros2_control
kamiradi Mar 17, 2025
ad292a2
adds controller boilerplate and a simple gui to test
kamiradi Mar 17, 2025
8941c75
pre-commit checks
kamiradi Mar 17, 2025
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4 changes: 3 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ find_package(rclcpp REQUIRED)
find_package(rviz_visual_tools REQUIRED)
find_package(warehouse_ros REQUIRED)
find_package(shape_msgs REQUIRED)
find_package(ros2_control REQUIRED)

generate_parameter_library(ktopt_moveit_parameters
parameters/ktopt_moveit_parameters.yaml)
Expand Down Expand Up @@ -59,7 +60,8 @@ ament_target_dependencies(
moveit_msgs
pluginlib
rclcpp
shape_msgs)
shape_msgs
ros2_control)
target_link_libraries(moveit_drake drake::drake ktopt_moveit_parameters)

# Ensure that the plugin finds libdrake.so at runtime
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1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -34,6 +34,7 @@
<exec_depend>ros2_control</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>ros2_control</exec_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down