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Simplified Example CMAKE Code #29

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6ef842c
changed examples
Waarbubble Oct 28, 2025
0aa9907
Fixed filename error
Waarbubble Oct 28, 2025
f37f439
fixing missing ur_rtde
Waarbubble Oct 28, 2025
07fb213
renamed target
Waarbubble Oct 28, 2025
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6 changes: 6 additions & 0 deletions examples/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,3 +1,9 @@
macro(add_example example_name folder)
add_executable(${example_name} ${folder}/${example_name}.cpp)
target_link_libraries(${example_name} PRIVATE sdu_controllers ${ARGN})
endmacro()


if(BUILD_EXAMPLES)
add_subdirectory(simulation)
endif()
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6 changes: 2 additions & 4 deletions examples/hardware/franka/CMakeLists.txt
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Expand Up @@ -3,8 +3,6 @@ find_package(Franka 0.9.1 REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(pinocchio REQUIRED)

add_executable(move_to_joint_position cpp/move_to_joint_position.cpp)
target_link_libraries(move_to_joint_position PRIVATE sdu_controllers Franka::Franka Eigen3::Eigen pinocchio::pinocchio)
add_example(move_to_joint_position cpp Franka::Franka Eigen3::Eigen pinocchio::pinocchio)
add_example(cartesian_control cpp Franka::Franka Eigen3::Eigen pinocchio::pinocchio)

add_executable(cartesian_control cpp/cartesian_control.cpp)
target_link_libraries(cartesian_control PRIVATE sdu_controllers Franka::Franka Eigen3::Eigen pinocchio::pinocchio)
11 changes: 3 additions & 8 deletions examples/hardware/ur/CMakeLists.txt
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@@ -1,11 +1,6 @@
# example dependencies
find_package(ur_rtde REQUIRED)

add_executable(admittance_controller_trajectory cpp/admittance_controller_trajectory.cpp)
target_link_libraries(admittance_controller_trajectory PRIVATE sdu_controllers ur_rtde::rtde)

add_executable(admittance_controller_kinesthetic_teaching cpp/admittance_controller_kinesthetic_teaching.cpp)
target_link_libraries(admittance_controller_kinesthetic_teaching PRIVATE sdu_controllers ur_rtde::rtde)

add_executable(ur_joint_motion_controller cpp/joint_motion_controller.cpp)
target_link_libraries(ur_joint_motion_controller PRIVATE sdu_controllers ur_rtde::rtde)
add_example(admittance_controller_trajectory cpp ur_rtde::rtde)
add_example(admittance_controller_kinesthetic_teaching cpp ur_rtde::rtde)
add_example(ur_joint_motion_controller cpp ur_rtde::rtde)
25 changes: 7 additions & 18 deletions examples/simulation/CMakeLists.txt
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@@ -1,20 +1,9 @@
add_executable(admittance_controller general/cpp/admittance_controller.cpp)
target_link_libraries(admittance_controller PRIVATE sdu_controllers)
add_example(admittance_controller general/cpp)

add_executable(joint_motion_controller ur/cpp/joint_motion_controller.cpp)
target_link_libraries(joint_motion_controller PRIVATE sdu_controllers)
add_example(joint_motion_controller ur/cpp)
add_example(cartesian_motion_controller ur/cpp)
add_example(force_control_velocity ur/cpp)

add_executable(cartesian_motion_controller ur/cpp/cartesian_motion_controller.cpp)
target_link_libraries(cartesian_motion_controller PRIVATE sdu_controllers)

add_executable(force_control_velocity ur/cpp/force_control_velocity.cpp)
target_link_libraries(force_control_velocity PRIVATE sdu_controllers)

add_executable(eurofusion_joint_motion_controller eurofusion/cpp/eurofusion_joint_motion_controller.cpp)
target_link_libraries(eurofusion_joint_motion_controller PRIVATE sdu_controllers)

add_executable(eurofusion_robot_rnea eurofusion/cpp/eurofusion_robot_rnea.cpp)
target_link_libraries(eurofusion_robot_rnea PRIVATE sdu_controllers)

add_executable(eurofusion_force_control eurofusion/cpp/force_control_velocity.cpp)
target_link_libraries(eurofusion_force_control PRIVATE sdu_controllers)
add_example(eurofusion_joint_motion_controller eurofusion/cpp)
add_example(eurofusion_robot_rnea eurofusion/cpp)
add_example(eurofusion_force_control_velocity eurofusion/cpp)
0 ...eurofusion/cpp/force_control_velocity.cpp → ...cpp/eurofusion_force_control_velocity.cpp
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2 changes: 1 addition & 1 deletion src/CMakeLists.txt
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Expand Up @@ -17,7 +17,7 @@ set(sdu_controllers_SOURCES
)

# Try to find ur_rtde in order to build UR Robot HAL
find_package(ur_rtde)
find_package(ur_rtde QUIET)

if(ur_rtde_FOUND)
list(APPEND sdu_controllers_SOURCES hal/ur_robot.cpp)
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