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Original file line number | Diff line number | Diff line change |
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repositories: | ||
rosparam_shortcuts: | ||
type: git | ||
url: https://github.com/PickNikRobotics/rosparam_shortcuts | ||
version: ros2 |
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Original file line number | Diff line number | Diff line change |
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cmake_minimum_required(VERSION 3.1.3) | ||
cmake_minimum_required(VERSION 3.5) | ||
project(moveit_task_constructor_capabilities) | ||
|
||
add_compile_options(-std=c++14) | ||
add_compile_options(-std=c++17) | ||
|
||
find_package(catkin REQUIRED COMPONENTS | ||
actionlib | ||
moveit_core | ||
moveit_ros_move_group | ||
moveit_task_constructor_core | ||
moveit_task_constructor_msgs | ||
pluginlib | ||
std_msgs | ||
) | ||
|
||
catkin_package( | ||
LIBRARIES $PROJECT_NAME} | ||
CATKIN_DEPENDS | ||
actionlib | ||
moveit_task_constructor_msgs | ||
std_msgs | ||
) | ||
find_package(ament_cmake REQUIRED) | ||
|
||
include_directories( | ||
${catkin_INCLUDE_DIRS} | ||
) | ||
find_package(Boost REQUIRED) | ||
find_package(rclcpp_action REQUIRED) | ||
find_package(moveit_core REQUIRED) | ||
find_package(moveit_ros_move_group REQUIRED) | ||
find_package(moveit_task_constructor_msgs REQUIRED) | ||
find_package(pluginlib REQUIRED) | ||
find_package(std_msgs REQUIRED) | ||
|
||
add_library(${PROJECT_NAME} | ||
add_library(${PROJECT_NAME} SHARED | ||
src/execute_task_solution_capability.cpp | ||
) | ||
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) | ||
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) | ||
ament_target_dependencies(${PROJECT_NAME} | ||
Boost | ||
rclcpp_action | ||
moveit_core | ||
moveit_ros_move_group | ||
moveit_task_constructor_msgs | ||
) | ||
|
||
install(TARGETS ${PROJECT_NAME} | ||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
LIBRARY DESTINATION lib | ||
) | ||
|
||
install(FILES capabilities_plugin_description.xml | ||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
) | ||
pluginlib_export_plugin_description_file(moveit_ros_move_group capabilities_plugin_description.xml) | ||
ament_export_dependencies(rclcpp_action) | ||
ament_export_dependencies(moveit_core) | ||
ament_export_dependencies(moveit_ros_move_group) | ||
ament_export_dependencies(moveit_task_constructor_msgs) | ||
ament_export_dependencies(pluginlib) | ||
ament_export_dependencies(std_msgs) | ||
ament_package() |
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