Improve CMake usage (#1550) (#1555)

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
moveit · Sep 6, 2022 · 5a589fc · 5a589fc
1 parent 7dd0434
commit 5a589fc
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Showing 46 changed files with 58 additions and 68 deletions.
diff --git a/moveit/CMakeLists.txt b/moveit/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit)
 find_package(ament_cmake REQUIRED)
 

diff --git a/moveit_common/CMakeLists.txt b/moveit_common/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_common NONE)
 
 find_package(ament_cmake REQUIRED)

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_core LANGUAGES CXX)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -63,24 +63,17 @@ if(BUILD_TESTING)
     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_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
-  target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
   # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    target_compile_options(test_bullet_collision_detection PRIVATE -Wno-deprecated-declarations)
+  if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+    add_compile_options(-Wno-deprecated-declarations)
   endif()
 
+  ament_add_gtest(test_bullet_collision_detection test/test_bullet_collision_detection_pr2.cpp)
+  target_link_libraries(test_bullet_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME})
+
   ament_add_gtest(test_bullet_collision_detection_panda test/test_bullet_collision_detection_panda.cpp)
   target_link_libraries(test_bullet_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    target_compile_options(test_bullet_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
-  endif()
 
   ament_add_gtest(test_bullet_continuous_collision_checking test/test_bullet_continuous_collision_checking.cpp)
   target_link_libraries(test_bullet_continuous_collision_checking moveit_test_utils ${MOVEIT_LIB_NAME})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    target_compile_options(test_bullet_continuous_collision_checking PRIVATE -Wno-deprecated-declarations)
-  endif()
 endif()
diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -45,20 +45,17 @@ if(BUILD_TESTING)
     set(append_library_dirs "${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()
 
+  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+  if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+    add_compile_options(-Wno-deprecated-declarations)
+  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})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    target_compile_options(test_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
-  endif()
 
   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})
-  # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
-  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    target_compile_options(test_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
-  endif()
 endif()
diff --git a/moveit_core/kinematics_base/CMakeLists.txt b/moveit_core/kinematics_base/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.22)
 set(MOVEIT_LIB_NAME moveit_kinematics_base)
 
 add_library(${MOVEIT_LIB_NAME} SHARED src/kinematics_base.cpp)

diff --git a/moveit_core/python/tools/CMakeLists.txt b/moveit_core/python/tools/CMakeLists.txt
@@ -12,6 +12,6 @@ install(
     ${MOVEIT_LIB_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME})
+  RUNTIME DESTINATION bin)
 
 install(DIRECTORY include/ DESTINATION include)
diff --git a/moveit_core/robot_model/CMakeLists.txt b/moveit_core/robot_model/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.22)
 set(MOVEIT_LIB_NAME moveit_robot_model)
 
 add_library(${MOVEIT_LIB_NAME} SHARED

diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_kinematics)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt b/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(_PACKAGE_NAME_)
 
 if(NOT "${CMAKE_CXX_STANDARD}")
@@ -34,7 +34,7 @@ install(TARGETS ${IKFAST_LIBRARY_NAME}
   EXPORT export_${PROJECT_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME})
+  RUNTIME DESTINATION bin)
 
 pluginlib_export_plugin_description_file(moveit_core _ROBOT_NAME___GROUP_NAME__moveit_ikfast_plugin_description.xml)
 

diff --git a/moveit_kinematics/test/CMakeLists.txt b/moveit_kinematics/test/CMakeLists.txt
@@ -56,6 +56,6 @@ if(BUILD_TESTING)
   install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
   install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
-  install(TARGETS benchmark_ik RUNTIME DESTINATION bin)
+  install(TARGETS benchmark_ik RUNTIME DESTINATION lib/${PROJECT_NAME})
   install(TARGETS test_kinematics_plugin DESTINATION lib/${PROJECT_NAME})
 endif()
diff --git a/moveit_planners/chomp/chomp_interface/CMakeLists.txt b/moveit_planners/chomp/chomp_interface/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_planners_chomp)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.22)
 project(chomp_motion_planner)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt b/moveit_planners/chomp/chomp_optimizer_adapter/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_chomp_optimizer_adapter)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_planners/moveit_planners/CMakeLists.txt b/moveit_planners/moveit_planners/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_planners)
 find_package(ament_cmake REQUIRED)
 

diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_planners_ompl)
 
 # Common cmake code applied to all moveit packages
@@ -15,7 +15,7 @@ find_package(tf2_eigen REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(ompl REQUIRED)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
     add_compile_options(-Wno-overloaded-virtual)
 endif()
 

diff --git a/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(pilz_industrial_motion_planner)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(pilz_industrial_motion_planner_testutils)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_resources_prbt_ikfast_manipulator_plugin)
 
 set(CMAKE_CXX_STANDARD 17)

diff --git a/moveit_planners/test_configs/prbt_moveit_config/CMakeLists.txt b/moveit_planners/test_configs/prbt_moveit_config/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_resources_prbt_moveit_config)
 
 find_package(ament_cmake REQUIRED)

diff --git a/moveit_planners/test_configs/prbt_pg70_support/CMakeLists.txt b/moveit_planners/test_configs/prbt_pg70_support/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_resources_prbt_pg70_support)
 
 find_package(ament_cmake REQUIRED)

diff --git a/moveit_planners/test_configs/prbt_support/CMakeLists.txt b/moveit_planners/test_configs/prbt_support/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_resources_prbt_support)
 
 find_package(ament_cmake REQUIRED)

diff --git a/moveit_plugins/moveit_plugins/CMakeLists.txt b/moveit_plugins/moveit_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_plugins)
 find_package(ament_cmake REQUIRED)
 

diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_control_interface)
 
 find_package(ament_cmake REQUIRED)

diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_simple_controller_manager)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_benchmarks)
 
 set(MOVEIT_LIB_NAME moveit_ros_benchmarks)

diff --git a/moveit_ros/hybrid_planning/CMakeLists.txt b/moveit_ros/hybrid_planning/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_hybrid_planning)
 
 # Common cmake code applied to all moveit packages
@@ -72,7 +72,7 @@ install(TARGETS ${LIBRARIES}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
   INCLUDES DESTINATION include)
 
 install(TARGETS cancel_action hybrid_planning_demo_node

diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_move_group)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_ros/moveit_ros/CMakeLists.txt b/moveit_ros/moveit_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros)
 find_package(ament_cmake REQUIRED)
 

diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_servo)
 
 # C++ Libraries #################################################

diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_occupancy_map_monitor)
 set(MOVEIT_LIB_NAME ${PROJECT_NAME})
 
@@ -61,7 +61,7 @@ install(
 )
 
 install(TARGETS moveit_ros_occupancy_map_server
-  DESTINATION lib/${PROJECT_NAME}/
+  DESTINATION lib/${PROJECT_NAME}
 )
 install(DIRECTORY include/ DESTINATION include)
 

diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_perception)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_planning)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_planning_interface)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_ros/robot_interaction/CMakeLists.txt b/moveit_ros/robot_interaction/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_robot_interaction)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_visualization)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_ros/warehouse/CMakeLists.txt b/moveit_ros/warehouse/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_warehouse)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_runtime/CMakeLists.txt b/moveit_runtime/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_runtime)
 find_package(ament_cmake REQUIRED)
 

diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_app_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_setup_app_plugins)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_setup_assistant)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_setup_assistant/moveit_setup_controllers/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_controllers/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_setup_controllers)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_core_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_setup_core_plugins)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_setup_framework)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_setup_assistant/moveit_setup_framework/templates/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_framework/templates/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project([GENERATED_PACKAGE_NAME])
 
 find_package(ament_cmake REQUIRED)

diff --git a/moveit_setup_assistant/moveit_setup_simulation/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_simulation/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_setup_simulation)
 
 # Common cmake code applied to all moveit packages

diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_srdf_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit_setup_srdf_plugins)
 
 # Common cmake code applied to all moveit packages