moveit_ros_planning, address linking issues 1

Still needs further work
AcutronicRobotics · Jun 9, 2019 · e05e309 · e05e309
1 parent bbae7e0
commit e05e309
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Showing 5 changed files with 24 additions and 6 deletions.
diff --git a/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt b/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt
@@ -2,7 +2,10 @@ set(MOVEIT_LIB_NAME moveit_constraint_sampler_manager_loader)
 
 add_library(${MOVEIT_LIB_NAME} SHARED src/constraint_sampler_manager_loader.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(${MOVEIT_LIB_NAME} ${rclcpp_LIBRARIES})
+target_link_libraries(${MOVEIT_LIB_NAME} 
+  ${rclcpp_LIBRARIES}
+  moveit_rdf_loader
+)
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION lib

diff --git a/moveit_ros/planning/plan_execution/CMakeLists.txt b/moveit_ros/planning/plan_execution/CMakeLists.txt
@@ -7,10 +7,14 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_planning_pipeline
   moveit_trajectory_execution_manager
+  moveit_core
+  moveit_planning_scene
   moveit_planning_scene_monitor
   rclcpp
   Boost
-  )
+  class_loader  
+  pluginlib)
+
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION lib

diff --git a/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt b/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt
@@ -12,13 +12,12 @@ set(SOURCE_FILES
 )
 
 add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCE_FILES})
-
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-
 target_link_libraries(${MOVEIT_LIB_NAME}
   ${Boost_LIBRARIES}
   ${rclcpp_LIBRARIES}
   ${moveit_core_LIBRARIES}
+  ${class_loader_LIBRARIES}
 )
 
 

diff --git a/moveit_ros/planning/rdf_loader/CMakeLists.txt b/moveit_ros/planning/rdf_loader/CMakeLists.txt
@@ -4,8 +4,11 @@ add_library(${MOVEIT_LIB_NAME} SHARED src/rdf_loader.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME}
   ${Boost_LIBRARIES}
-  ${srdf_LIBRARIES}
+  ${srdfdom_LIBRARIES}
   ${urdf_LIBRARIES}
+  ${rclcpp_LIBRARIES}
+  ${pluginlib_LIBRARIES}
+  ${moveit_core_LIBRARIES}
 )
 
 install(TARGETS ${MOVEIT_LIB_NAME}

diff --git a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt
@@ -3,10 +3,19 @@ set(MOVEIT_LIB_NAME moveit_trajectory_execution_manager)
 add_library(${MOVEIT_LIB_NAME} SHARED src/trajectory_execution_manager.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(${MOVEIT_LIB_NAME}
-  moveit_planning_scene_monitor moveit_robot_model_loader
+  moveit_planning_scene
+  moveit_planning_scene_monitor 
+  moveit_robot_model_loader
+  moveit_robot_state
   rclcpp
   Boost
   tinyxml_vendor
+  pluginlib
+)
+target_link_libraries(${MOVEIT_LIB_NAME}
+  moveit_planning_scene_monitor 
+  moveit_robot_state
+  moveit_planning_scene
 )
 
 install(TARGETS ${MOVEIT_LIB_NAME}