Merge pull request #667 from JdeRobot/gripper-pick-place-gz

Fix gripper pick place gz harmonic

Author: javizqh

Industrial/gz_link_attacher/CMakeLists.txt

@@ -0,0 +1,71 @@
+cmake_minimum_required(VERSION 3.8)
+project(gz_link_attacher)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+############################
+# Dependencies
+############################
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+find_package(gz-sim8 REQUIRED)
+find_package(gz-plugin2 REQUIRED)
+
+find_package(linkattacher_msgs REQUIRED)
+
+############################
+# Plugin library
+############################
+
+add_library(gz_link_attacher SHARED
+  src/gz_link_attacher.cpp
+)
+
+target_link_libraries(gz_link_attacher
+  gz-sim8::gz-sim8
+  gz-plugin2::gz-plugin2
+)
+
+ament_target_dependencies(gz_link_attacher
+  rclcpp
+  linkattacher_msgs
+)
+
+############################
+# Install plugin
+############################
+
+install(
+  TARGETS gz_link_attacher
+  LIBRARY DESTINATION lib
+)
+
+############################
+# Environment hook (.dsv)
+############################
+
+install(
+  FILES env-hooks/gz_link_attacher.dsv
+  DESTINATION share/${PROJECT_NAME}/environment
+)
+
+############################
+# Export
+############################
+
+ament_export_libraries(gz_link_attacher)
+
+ament_export_dependencies(
+  gz-sim8
+  gz-plugin2
+)
+
+ament_package()

Industrial/gz_link_attacher/env-hooks/gz_link_attacher.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib

Industrial/gz_link_attacher/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="3">
+
+  <name>gz_link_attacher</name>
+  <version>0.0.1</version>
+
+  <description>Gazebo Harmonic Link Attacher</description>
+
+  <maintainer email="dev@todo.com">dev</maintainer>
+
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <depend>gz-sim</depend>
+
+  <depend>linkattacher_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>