Fix sub-components

AcutronicRobotics · Jul 5, 2019 · 3c709af · 3c709af
1 parent 5148686
commit 3c709af
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Showing 8 changed files with 27 additions and 8 deletions.
diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
@@ -8,9 +8,11 @@ find_package(ament_cmake REQUIRED)
 find_package(Boost REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(orocos_kdl REQUIRED)
+find_package(tf2_kdl REQUIRED)
 find_package(kdl_parser REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(random_numbers REQUIRED)
+find_package(class_loader REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
@@ -28,6 +30,8 @@ ament_export_libraries(${PROJECT_NAME} kdl_kinematics_plugin)
 
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
   ${rclcpp_INCLUDE_DIRS}
+  ${tf2_kdl_INCLUDE_DIRS}
+  ${class_loader_INCLUDE_DIRS}
   ${random_numbers_INCLUDE_DIRS}
   ${moveit_msgs_INCLUDE_DIRS}
   ${moveit_core_INCLUDE_DIRS}

diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
@@ -19,9 +19,10 @@
   <url type="repository">https://github.com/ros-planning/moveit</url>
   <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
 
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>moveit_core</depend>
+  <depend>class_loader</depend>
   <depend>pluginlib</depend>
   <depend>eigen</depend>
   <depend>moveit_ros_planning</depend>
@@ -32,6 +33,7 @@
 
   <exec_depend>python-lxml</exec_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>moveit_resources</test_depend>
 
   <export>

diff --git a/moveit_ros/manipulation/CMakeLists.txt b/moveit_ros/manipulation/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(moveit_core REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
 find_package(moveit_ros_move_group REQUIRED)
+find_package(message_filters REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -26,8 +27,12 @@ include_directories(pick_place/include)
 include_directories(move_group_pick_place_capability/include)
 
 include_directories(${rclcpp_INCLUDE_DIRS}
+                    ${rclcpp_action_INCLUDE_DIRS}
                     ${Boost_INCLUDE_DIRS}
-                    ${moveit_core_INCLUDE_DIRS})
+                    ${message_filters_INCLUDE_DIRS}
+                    ${moveit_core_INCLUDE_DIRS}
+                    ${moveit_ros_planning_INCLUDE_DIRS}
+                    ${moveit_ros_move_group_INCLUDE_DIRS})
 include_directories(SYSTEM
                     ${EIGEN3_INCLUDE_DIRS})
 

diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
@@ -22,8 +22,9 @@ find_package(std_srvs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(message_filters REQUIRED)
 
-include_directories(include)
+include_directories(include ${message_filters_INCLUDE_DIRS})
 
 add_library(moveit_move_group_capabilities_base SHARED
   src/move_group_context.cpp

diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
@@ -76,6 +76,8 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
                     ${rclcpp_INCLUDE_DIRS}
                     ${Boost_INCLUDE_DIRS}
+                    ${pluginlib_INCLUDE_DIRS}
+                    ${srdfdom_INCLUDE_DIRS}
                     ${moveit_core_INCLUDE_DIRS}
 )
 include_directories(SYSTEM

diff --git a/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt b/moveit_ros/planning/planning_scene_monitor/CMakeLists.txt
@@ -1,5 +1,6 @@
 set(MOVEIT_LIB_NAME moveit_planning_scene_monitor)
 
+include_directories(${moveit_ros_perception_INCLUDE_DIRS})
 add_library(${MOVEIT_LIB_NAME} SHARED
   src/planning_scene_monitor.cpp
   src/current_state_monitor.cpp
@@ -8,7 +9,7 @@ add_library(${MOVEIT_LIB_NAME} SHARED
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_collision_plugin_loader
-  # moveit_occupancy_map_monitor
+  moveit_occupancy_map_monitor
   moveit_ros_perception
   message_filters
   urdf

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
@@ -15,7 +15,8 @@ find_package(moveit_msgs REQUIRED)
 # TODO: uncomment this as submodules become available
 find_package(moveit_ros_planning REQUIRED)
 # find_package(moveit_ros_warehouse REQUIRED)
-# find_package(moveit_ros_manipulation REQUIRED)
+find_package(moveit_ros_manipulation REQUIRED)
+find_package(message_filters REQUIRED)
 find_package(moveit_ros_move_group REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(tf2 REQUIRED)
@@ -63,7 +64,7 @@ set(THIS_PACKAGE_INCLUDE_LIBRARIES
 set(THIS_PACKAGE_INCLUDE_DEPENDENCIES
       moveit_ros_planning
       # moveit_ros_warehouse
-      # moveit_ros_manipulation
+      moveit_ros_manipulation
       moveit_ros_move_group
       geometry_msgs
       moveit_msgs
@@ -73,7 +74,10 @@ set(THIS_PACKAGE_INCLUDE_DEPENDENCIES
 
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
                     ${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS})
+                    ${message_filters_INCLUDE_DIRS}
+                    ${moveit_ros_planning_INCLUDE_DIRS}
+                    ${moveit_ros_move_group_INCLUDE_DIRS}
+                    ${moveit_ros_manipulation_INCLUDE_DIRS})
 
 include_directories(SYSTEM
                     ${EIGEN3_INCLUDE_DIRS}

diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
@@ -23,7 +23,7 @@
   <depend>moveit_ros_planning</depend>
   <!-- <depend>moveit_ros_warehouse</depend> TODO: uncomment when ported-->
   <depend>moveit_ros_move_group</depend>
-  <!-- <depend>moveit_ros_manipulation</depend> TODO: uncomment when ported -->
+  <depend>moveit_ros_manipulation</depend>
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
   <depend>geometry_msgs</depend>