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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.16.3)
project(example_behaviors)
# Set MoveIt's typical CMake settings, including C++ standard version
find_package(moveit_common REQUIRED)
moveit_package()
find_package(moveit_studio_behavior_interface REQUIRED)
find_package(pluginlib REQUIRED)
set(
THIS_PACKAGE_INCLUDE_DEPENDS
moveit_studio_behavior_interface
pluginlib
)
add_library(
example_behaviors SHARED
src/hello_world.cpp
src/delayed_message.cpp
src/setup_mtc_wave_hand.cpp
src/register_behaviors.cpp
)
target_include_directories(
example_behaviors
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
PUBLIC $<INSTALL_INTERFACE:include>
)
ament_target_dependencies(example_behaviors ${THIS_PACKAGE_INCLUDE_DEPENDS})
# Install Libraries
install(
TARGETS example_behaviors
EXPORT example_behaviorsTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include
)
install(
DIRECTORY
config
DESTINATION
share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
add_subdirectory(test)
ament_lint_auto_find_test_dependencies()
endif()
# Export the behavior plugins defined in this package so they are available to plugin loaders that load the
# behavior base class library from the moveit_studio_behavior package.
pluginlib_export_plugin_description_file(moveit_studio_behavior_interface example_behaviors_plugin_description.xml)
ament_export_targets(example_behaviorsTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()