Fix moveit_ros_planning dependency on Bullet

moveit · Jan 13, 2020 · 6bab622 · 6bab622
1 parent e412224
commit 6bab622
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/moveit_ros/planning/planning_components_tools/CMakeLists.txt b/moveit_ros/planning/planning_components_tools/CMakeLists.txt
@@ -14,8 +14,10 @@ target_link_libraries(moveit_visualize_robot_collision_volume moveit_planning_sc
 add_executable(moveit_evaluate_collision_checking_speed src/evaluate_collision_checking_speed.cpp)
 target_link_libraries(moveit_evaluate_collision_checking_speed moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-add_executable(moveit_compare_collision_checking_speed_fcl_bullet src/compare_collision_speed_checking_fcl_bullet.cpp)
-target_link_libraries(moveit_compare_collision_checking_speed_fcl_bullet moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+if("${catkin_LIBRARIES}" MATCHES "moveit_collision_detection_bullet")
+  add_executable(moveit_compare_collision_checking_speed_fcl_bullet src/compare_collision_speed_checking_fcl_bullet.cpp)
+  target_link_libraries(moveit_compare_collision_checking_speed_fcl_bullet moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+endif()
 
 add_executable(moveit_kinematics_speed_and_validity_evaluator src/kinematics_speed_and_validity_evaluator.cpp)
 target_link_libraries(moveit_kinematics_speed_and_validity_evaluator moveit_robot_model_loader ${catkin_LIBRARIES} ${Boost_LIBRARIES})