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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.22)
project(moveit_ros_planning LANGUAGES CXX)
# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()
find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(fmt REQUIRED)
find_package(generate_parameter_library REQUIRED)
find_package(message_filters REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_occupancy_map_monitor REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(srdfdom REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(urdf REQUIRED)
# find_package(moveit_ros_perception REQUIRED)
# Finds Boost Components
include(ConfigExtras.cmake)
set(THIS_PACKAGE_INCLUDE_DIRS
collision_plugin_loader/include
constraint_sampler_manager_loader/include
kinematics_plugin_loader/include
moveit_cpp/include
plan_execution/include
planning_pipeline_interfaces/include
planning_pipeline/include
planning_scene_monitor/include
rdf_loader/include
robot_model_loader/include
trajectory_execution_manager/include)
set(THIS_PACKAGE_LIBRARIES
default_request_adapter_parameters
default_response_adapter_parameters
moveit_collision_plugin_loader
moveit_constraint_sampler_manager_loader
moveit_cpp
moveit_kinematics_plugin_loader
moveit_plan_execution
moveit_planning_pipeline
moveit_planning_pipeline_interfaces
moveit_planning_scene_monitor
moveit_rdf_loader
moveit_robot_model_loader
moveit_trajectory_execution_manager
planning_pipeline_parameters
srdf_publisher_node)
set(THIS_PACKAGE_INCLUDE_DEPENDS
Eigen3
generate_parameter_library
message_filters
moveit_core
moveit_msgs
moveit_ros_occupancy_map_monitor
pluginlib
rclcpp
rclcpp_components
srdfdom
std_msgs
tf2
tf2_eigen
tf2_geometry_msgs
tf2_msgs
tf2_ros
urdf
# moveit_ros_perception
)
include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS})
add_subdirectory(collision_plugin_loader)
add_subdirectory(constraint_sampler_manager_loader)
add_subdirectory(kinematics_plugin_loader)
add_subdirectory(moveit_cpp)
add_subdirectory(plan_execution)
add_subdirectory(planning_components_tools)
add_subdirectory(planning_pipeline_interfaces)
add_subdirectory(planning_pipeline)
add_subdirectory(planning_request_adapter_plugins)
add_subdirectory(planning_response_adapter_plugins)
add_subdirectory(planning_scene_monitor)
add_subdirectory(rdf_loader)
add_subdirectory(robot_model_loader)
add_subdirectory(srdf_publisher_node)
add_subdirectory(trajectory_execution_manager)
install(
TARGETS ${THIS_PACKAGE_LIBRARIES}
EXPORT moveit_ros_planningTargets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES
DESTINATION include/moveit_ros_planning)
# install plugins as separate export set
install(
TARGETS moveit_default_planning_response_adapter_plugins
moveit_default_planning_request_adapter_plugins
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES
DESTINATION include/moveit_ros_planning)
ament_export_targets(moveit_ros_planningTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
rclcpp_components_register_node(
srdf_publisher_node PLUGIN "moveit_ros_planning::SrdfPublisher" EXECUTABLE
srdf_publisher)
pluginlib_export_plugin_description_file(
moveit_core "default_request_adapters_plugin_description.xml")
pluginlib_export_plugin_description_file(
moveit_core "default_response_adapters_plugin_description.xml")
if(BUILD_TESTING)
pluginlib_export_plugin_description_file(
moveit_core "planning_pipeline_test_plugins_description.xml")
endif()
ament_package(CONFIG_EXTRAS ConfigExtras.cmake)