Remove clock from RobotTrajectory

moveit · Oct 27, 2022 · 994c2a1 · 994c2a1
1 parent 9c6aa94
commit 994c2a1
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Showing 2 changed files with 5 additions and 7 deletions.
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -143,9 +143,9 @@ include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
                     ${VERSION_FILE_PATH})
 
 # Generate and install version.h
-string(REGEX REPLACE "^([0-9]+)\\..*" "\\1" MOVEIT_VERSION_MAJOR "${${PROJECT_NAME}_VERSION}")
-string(REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1" MOVEIT_VERSION_MINOR "${${PROJECT_NAME}_VERSION}")
-string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" MOVEIT_VERSION_PATCH "${${PROJECT_NAME}_VERSION}")
+string(REGEX REPLACE "^([0-9]+)\\..*" "\\1" MOVEIT_VERSION_MAJOR "${moveit_core_VERSION}")
+string(REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1" MOVEIT_VERSION_MINOR "${moveit_core_VERSION}")
+string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" MOVEIT_VERSION_PATCH "${moveit_core_VERSION}")
 set(MOVEIT_VERSION_EXTRA "Alpha")
 set(MOVEIT_VERSION "${MOVEIT_VERSION_MAJOR}.${MOVEIT_VERSION_MINOR}.${MOVEIT_VERSION_PATCH}-${MOVEIT_VERSION_EXTRA}")
 message(STATUS " *** Building MoveIt ${MOVEIT_VERSION} ***")
@@ -208,14 +208,14 @@ add_subdirectory(collision_detection_fcl)
 
 install(
   TARGETS ${THIS_PACKAGE_LIBRARIES}
-  EXPORT ${PROJECT_NAME}Targets
+  EXPORT moveit_coreTargets
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
   INCLUDES DESTINATION include
 )
 
-ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+ament_export_targets(moveit_coreTargets HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor)
 
 # Plugin exports

diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -46,7 +46,6 @@
 
 #include "rcl/error_handling.h"
 #include "rcl/time.h"
-#include "rclcpp/clock.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"
@@ -382,7 +381,6 @@ class RobotTrajectory
   const moveit::core::JointModelGroup* group_;
   std::deque<moveit::core::RobotStatePtr> waypoints_;
   std::deque<double> duration_from_previous_;
-  rclcpp::Clock clock_ros_;
 };
 
 /** @brief Operator overload for printing trajectory to a stream */