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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2)
project(moveit_hybrid_planning)
# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_core REQUIRED)
find_package(std_srvs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(trajectory_msgs REQUIRED)
find_package(control_toolbox REQUIRED)
set(LIBRARIES
moveit_hybrid_planning_manager
moveit_local_planner_component
moveit_global_planner_component
planner_logic_interface
single_plan_execution_plugin
trajectory_operator_interface
local_constraint_solver_interface
simple_sampler_plugin
single_plan_execution_plugin
replan_invalidated_trajectory_plugin
forward_trajectory_plugin
)
set(THIS_PACKAGE_INCLUDE_DEPENDS
rclcpp
rclcpp_components
rclcpp_action
moveit_core
moveit_ros_planning
moveit_msgs
std_msgs
std_srvs
tf2_ros
trajectory_msgs
control_toolbox
)
set(THIS_PACKAGE_INCLUDE_DIRS
global_planner/include
hybrid_planning_manager/hybrid_planning_manager_component/include
hybrid_planning_manager/planner_logic_plugins/include
local_planner/local_planner_component/include
local_planner/trajectory_operator_plugins/include
local_planner/local_constraint_solver_plugins/include
)
include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
add_subdirectory(hybrid_planning_manager)
add_subdirectory(global_planner)
add_subdirectory(local_planner)
add_subdirectory(test)
rclcpp_components_register_nodes(moveit_hybrid_planning_manager "moveit_hybrid_planning::HybridPlanningManager")
rclcpp_components_register_nodes(moveit_global_planner_component "moveit_hybrid_planning::GlobalPlannerComponent")
rclcpp_components_register_nodes(moveit_local_planner_component "moveit_hybrid_planning::LocalPlannerComponent")
install(TARGETS ${LIBRARIES} hybrid_planning_test_node
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY ${THIS_PACKAGE_INCLUDE_DIRS} DESTINATION include)
install(DIRECTORY test/launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY test/config DESTINATION share/${PROJECT_NAME})
pluginlib_export_plugin_description_file(moveit_hybrid_planning single_plan_execution_plugin.xml)
pluginlib_export_plugin_description_file(moveit_hybrid_planning simple_sampler_plugin.xml)
pluginlib_export_plugin_description_file(moveit_hybrid_planning replan_invalidated_trajectory_plugin.xml)
pluginlib_export_plugin_description_file(moveit_hybrid_planning forward_trajectory_plugin.xml)
ament_export_include_directories(include)
ament_export_libraries(${LIBRARIES})
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()