vesc_driver appears functional, some design refinement still needed

ret15108 · Jan 13, 2016 · c426d32 · c426d32
1 parent 77a631c
commit c426d32
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Showing 20 changed files with 1,898 additions and 63 deletions.
diff --git a/vesc_driver/CMakeLists.txt b/vesc_driver/CMakeLists.txt
@@ -5,31 +5,42 @@ find_package(catkin REQUIRED COMPONENTS
   nodelet
   pluginlib
   roscpp
+  std_msgs
   vesc_msgs
+  serial
 )
 
 catkin_package(
-# INCLUDE_DIRS include
-  CATKIN_DEPENDS nodelet pluginlib roscpp vesc_msgs
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS nodelet pluginlib roscpp std_msgs vesc_msgs serial
 )
 
 ###########
 ## Build ##
 ###########
 
 include_directories(
+  include
   ${Boost_INCLUDE_DIR}
   ${catkin_INCLUDE_DIRS}
 )
 
 # node executable
-add_executable(vesc_driver_node src/vesc_driver_node.cpp src/vesc_driver.cpp)
+add_executable(vesc_driver_node src/vesc_driver_node.cpp
+                                src/vesc_driver.cpp
+                                src/vesc_interface.cpp
+                                src/vesc_packet.cpp
+                                src/vesc_packet_factory.cpp)
 target_link_libraries(vesc_driver_node
   ${catkin_LIBRARIES}
 )
 
 # nodelet library
-add_library(vesc_driver_nodelet src/vesc_driver_nodelet.cpp src/vesc_driver.cpp)
+add_library(vesc_driver_nodelet src/vesc_driver_nodelet.cpp
+                                src/vesc_driver.cpp
+                                src/vesc_interface.cpp
+                                src/vesc_packet.cpp
+                                src/vesc_packet_factory.cpp)
 target_link_libraries(vesc_driver_nodelet
   ${catkin_LIBRARIES}
 )