[delta] debug for CI

sugikazu75 · Oct 7, 2024 · 3606f4d · 3606f4d
1 parent 6eed85b
commit 3606f4d
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Showing 3 changed files with 14 additions and 3 deletions.
diff --git a/robots/delta/CMakeLists.txt b/robots/delta/CMakeLists.txt
@@ -8,11 +8,14 @@ find_package(catkin REQUIRED COMPONENTS
   aerial_robot_estimation
   aerial_robot_model
   aerial_robot_msgs
+  dynamic_reconfigure
+  geometry_msgs
   hydrus
   message_generation
   mujoco_ros_control
   pluginlib
   roscpp
+  std_msgs
   )
 
 find_package(Eigen3 REQUIRED)
@@ -24,8 +27,6 @@ if(NOT CMAKE_BUILD_TYPE)
 endif()
 set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
 
-catkin_python_setup()
-
 add_message_files(FILES
   DynamicReconfigureLevels.msg
   )
@@ -34,10 +35,11 @@ generate_messages(DEPENDENCIES std_msgs geometry_msgs)
 generate_dynamic_reconfigure_options(
   cfg/nlopt.cfg
   )
+add_dependencies(${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_py)
 
 catkin_package(
   INCLUDE_DIRS include
-  CATKIN_DEPENDS aerial_robot_control aerial_robot_estimation aerial_robot_model aerial_robot_msgs hydrus pluginlib roscpp
+  CATKIN_DEPENDS aerial_robot_control aerial_robot_estimation aerial_robot_model aerial_robot_msgs dynamic_reconfigure geometry_msgs hydrus message_runtime pluginlib roscpp std_msgs
   LIBRARIES delta_controller delta_robot_model delta_navigation
   )
 
@@ -56,6 +58,7 @@ add_library(delta_controller
   src/control/delta_joint_controller.cpp
   )
 target_link_libraries(delta_controller ${catkin_LIBRARIES} ${OsqpEigen_LIBRARIES} ${NLOPT_LIBRARIES})
+add_dependencies(delta_controller ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
 
 add_library(delta_robot_model src/model/delta_robot_model.cpp)
 target_link_libraries(delta_robot_model ${catkin_LIBRARIES})

diff --git a/robots/delta/cfg/nlopt.cfg b/robots/delta/cfg/nlopt.cfg
diff --git a/robots/delta/package.xml b/robots/delta/package.xml
@@ -15,28 +15,36 @@
   <build_depend>aerial_robot_estimation</build_depend>
   <build_depend>aerial_robot_model</build_depend>
   <build_depend>aerial_robot_msgs</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_depend>hydrus</build_depend>
+  <build_depend>message_generation</build_depend>
   <build_depend>mujoco_ros_control</build_depend>
   <build_depend>nlopt</build_depend>
   <build_depend>osqp-eigen</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>pluginlib</build_depend>
+  <build_depend>std_msgs</build_depend>
 
   <run_depend>aerial_robot_base</run_depend>
   <run_depend>aerial_robot_control</run_depend>
   <run_depend>aerial_robot_estimation</run_depend>
   <run_depend>aerial_robot_model</run_depend>
   <run_depend>aerial_robot_msgs</run_depend>
   <run_depend>aerial_robot_simulation</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>gazebo_ros</run_depend>
+  <run_depend>geometry_msgs</run_depend>
   <run_depend>hydrus</run_depend>
   <run_depend>jsk_rviz_plugins</run_depend>
+  <run_depend>message_runtime</run_depend>
   <run_depend>nlopt</run_depend>
   <run_depend>osqp-eigen</run_depend>
   <run_depend>pluginlib</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>smach_viewer</run_depend>
+  <run_depend>std_msgs</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>xacro</run_depend>