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CMakeLists.txt
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CMakeLists.txt
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set(MOVEIT_LIB_NAME moveit_collision_detection_fcl)
add_library(${MOVEIT_LIB_NAME} SHARED
src/collision_common.cpp
src/collision_env_fcl.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(${MOVEIT_LIB_NAME}
rclcpp
rmw_implementation
urdf
urdfdom
urdfdom_headers
LIBFCL
Boost
visualization_msgs
)
target_link_libraries(${MOVEIT_LIB_NAME}
moveit_collision_detection
)
add_library(collision_detector_fcl_plugin SHARED src/collision_detector_fcl_plugin_loader.cpp)
set_target_properties(collision_detector_fcl_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(collision_detector_fcl_plugin
rclcpp
urdf
visualization_msgs
pluginlib
rmw_implementation
)
target_link_libraries(collision_detector_fcl_plugin
${MOVEIT_LIB_NAME}
moveit_planning_scene
)
install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_fcl_plugin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/ DESTINATION include)
if(BUILD_TESTING)
if(WIN32)
# set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
else()
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../collision_detection;${CMAKE_CURRENT_BINARY_DIR}/../robot_state;${CMAKE_CURRENT_BINARY_DIR}/../robot_model;${CMAKE_CURRENT_BINARY_DIR}/../utils")
endif()
ament_add_gtest(test_fcl_collision_env test/test_fcl_env.cpp)
target_link_libraries(test_fcl_collision_env moveit_test_utils ${MOVEIT_LIB_NAME})
ament_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
target_link_libraries(test_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
ament_add_gtest(test_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
target_link_libraries(test_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
endif()