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CMakeLists.txt
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CMakeLists.txt
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add_library(moveit_planning_scene_monitor SHARED
src/planning_scene_monitor.cpp
src/current_state_monitor.cpp
src/current_state_monitor_middleware_handle.cpp
src/trajectory_monitor.cpp
src/trajectory_monitor_middleware_handle.cpp
)
include(GenerateExportHeader)
generate_export_header(moveit_planning_scene_monitor)
target_include_directories(moveit_planning_scene_monitor PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
set_target_properties(moveit_planning_scene_monitor PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(moveit_planning_scene_monitor
moveit_ros_occupancy_map_monitor
message_filters
urdf
pluginlib
rclcpp
fmt
moveit_msgs
)
target_link_libraries(moveit_planning_scene_monitor
moveit_robot_model_loader
moveit_collision_plugin_loader
)
add_executable(demo_scene demos/demo_scene.cpp)
ament_target_dependencies(demo_scene
PUBLIC
rclcpp
fmt
moveit_msgs
urdf
message_filters
pluginlib
)
target_link_libraries(demo_scene PRIVATE moveit_planning_scene_monitor)
install(TARGETS demo_scene
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_scene_monitor_export.h DESTINATION include/moveit_ros_planning)
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_gmock REQUIRED)
ament_add_gmock(current_state_monitor_tests
test/current_state_monitor_tests.cpp
)
target_link_libraries(current_state_monitor_tests
moveit_planning_scene_monitor
)
ament_add_gmock(trajectory_monitor_tests
test/trajectory_monitor_tests.cpp
)
target_link_libraries(trajectory_monitor_tests
moveit_planning_scene_monitor
)
endif()