From f46056fb35ed930a064d363f2455a6b95c7bee72 Mon Sep 17 00:00:00 2001 From: Tyler Weaver Date: Tue, 6 Dec 2022 14:34:26 -0700 Subject: [PATCH] Remove unnecessary CMake variables and lists Signed-off-by: Tyler Weaver --- moveit_core/CMakeLists.txt | 174 +++++++++--------- .../collision_detection_bullet/CMakeLists.txt | 2 + moveit_core/version/CMakeLists.txt | 2 +- 3 files changed, 87 insertions(+), 91 deletions(-) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index 745a2ac0ce..74f92ed24c 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -5,10 +5,14 @@ project(moveit_core LANGUAGES CXX) find_package(moveit_common REQUIRED) moveit_package() -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(eigen3_cmake_module REQUIRED) -find_package(Eigen3 REQUIRED) +# Generate and install version.h +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 "${moveit_core_VERSION}") +set(MOVEIT_VERSION "${MOVEIT_VERSION_MAJOR}.${MOVEIT_VERSION_MINOR}.${MOVEIT_VERSION_PATCH}") +message(STATUS " *** Building MoveIt ${MOVEIT_VERSION} ***") +configure_file("version/version.h.in" "${CMAKE_BINARY_DIR}/include/moveit/version.h") +install(FILES "${CMAKE_BINARY_DIR}/include/moveit/version.h" DESTINATION include/moveit_core/moveit) find_package(PkgConfig REQUIRED) pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0") @@ -20,111 +24,53 @@ foreach(LIBFCL_LIBRARY ${LIBFCL_LIBRARIES}) endforeach() set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}") -find_package(Bullet 2.87 REQUIRED) -find_package(angles REQUIRED) -find_package(OCTOMAP REQUIRED) -find_package(urdfdom REQUIRED) -find_package(urdf REQUIRED) -find_package(urdfdom_headers REQUIRED) find_package(ament_cmake REQUIRED) -find_package(tf2_eigen REQUIRED) -find_package(tf2_kdl REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) +find_package(angles REQUIRED) +find_package(Bullet 2.87 REQUIRED) +find_package(common_interfaces REQUIRED) find_package(eigen_stl_containers REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(eigen3_cmake_module REQUIRED) find_package(geometric_shapes REQUIRED) find_package(geometry_msgs REQUIRED) find_package(kdl_parser REQUIRED) find_package(moveit_msgs REQUIRED) +find_package(OCTOMAP REQUIRED) find_package(octomap_msgs REQUIRED) +find_package(pluginlib REQUIRED) find_package(random_numbers REQUIRED) +find_package(rclcpp REQUIRED) find_package(ruckig REQUIRED) find_package(sensor_msgs REQUIRED) find_package(shape_msgs REQUIRED) find_package(srdfdom REQUIRED) find_package(std_msgs REQUIRED) +find_package(tf2_eigen REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(tf2_kdl REQUIRED) find_package(trajectory_msgs REQUIRED) +find_package(urdf REQUIRED) +find_package(urdfdom REQUIRED) +find_package(urdfdom_headers REQUIRED) find_package(visualization_msgs REQUIRED) -find_package(common_interfaces REQUIRED) -find_package(pluginlib REQUIRED) + # TODO: Port python bindings # find_package(pybind11 REQUIRED) # Finds Boost Components include(ConfigExtras.cmake) -# Set target file path for version.h -set(VERSION_FILE_PATH ${CMAKE_BINARY_DIR}/include) - -set(THIS_PACKAGE_LIBRARIES - moveit_butterworth_filter - moveit_collision_distance_field - moveit_collision_detection - moveit_collision_detection_fcl - moveit_collision_detection_bullet - moveit_dynamics_solver - moveit_constraint_samplers - moveit_distance_field - moveit_exceptions - moveit_kinematics_base - moveit_kinematic_constraints - moveit_kinematics_metrics - moveit_macros - moveit_planning_interface - moveit_planning_scene - moveit_planning_request_adapter - # TODO: Port python bindings - # moveit_python_tools - moveit_robot_model - moveit_robot_state - moveit_robot_trajectory - moveit_smoothing_base - moveit_test_utils - moveit_trajectory_processing - moveit_transforms - moveit_utils -) - -set(THIS_PACKAGE_INCLUDE_DEPENDS - angles - eigen_stl_containers - geometric_shapes - geometry_msgs - kdl_parser - moveit_msgs - octomap_msgs - random_numbers - sensor_msgs - shape_msgs - srdfdom - std_msgs - tf2_eigen - tf2_geometry_msgs - trajectory_msgs - visualization_msgs - Eigen3 - eigen3_cmake_module - OCTOMAP - Bullet - ruckig -) - -# Generate and install version.h -string(REGEX REPLACE "^([0-9]+)\\..*" "\\1" MOVEIT_VERSION_MAJOR "${${PROJECT_NAME}_VERSION}") -string(REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1" MOVEIT_VERSION_MINOR "${${PROJECT_NAME}_VERSION}") -string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" MOVEIT_VERSION_PATCH "${${PROJECT_NAME}_VERSION}") -set(MOVEIT_VERSION "${MOVEIT_VERSION_MAJOR}.${MOVEIT_VERSION_MINOR}.${MOVEIT_VERSION_PATCH}") -message(STATUS " *** Building MoveIt ${MOVEIT_VERSION} ***") -configure_file("version/version.h.in" "${VERSION_FILE_PATH}/moveit/version.h") -install(FILES "${VERSION_FILE_PATH}/moveit/version.h" DESTINATION include/moveit_core/moveit) - +add_subdirectory(collision_detection_bullet) +add_subdirectory(collision_detection_fcl) +add_subdirectory(collision_detection) add_subdirectory(collision_distance_field) add_subdirectory(constraint_samplers) add_subdirectory(controller_manager) add_subdirectory(distance_field) add_subdirectory(dynamics_solver) add_subdirectory(exceptions) -add_subdirectory(kinematics_base) add_subdirectory(kinematic_constraints) +add_subdirectory(kinematics_base) add_subdirectory(kinematics_metrics) add_subdirectory(macros) add_subdirectory(online_signal_smoothing) @@ -139,10 +85,6 @@ add_subdirectory(transforms) add_subdirectory(utils) add_subdirectory(version) -add_subdirectory(collision_detection) -add_subdirectory(collision_detection_bullet) -add_subdirectory(collision_detection_fcl) - # TODO: Port python bindings # add_subdirectory(python) # set(pymoveit_libs @@ -172,16 +114,68 @@ add_subdirectory(collision_detection_fcl) install( - TARGETS ${THIS_PACKAGE_LIBRARIES} - EXPORT ${PROJECT_NAME}Targets + TARGETS + moveit_butterworth_filter + moveit_collision_distance_field + moveit_collision_detection + moveit_collision_detection_fcl + moveit_collision_detection_bullet + moveit_dynamics_solver + moveit_constraint_samplers + moveit_distance_field + moveit_exceptions + moveit_kinematics_base + moveit_kinematic_constraints + moveit_kinematics_metrics + moveit_macros + moveit_planning_interface + moveit_planning_scene + moveit_planning_request_adapter + moveit_robot_model + moveit_robot_state + moveit_robot_trajectory + moveit_smoothing_base + moveit_test_utils + moveit_trajectory_processing + moveit_transforms + moveit_utils + EXPORT moveit_coreTargets LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin - INCLUDES DESTINATION include ) -ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor) +ament_export_targets(moveit_coreTargets HAS_LIBRARY_TARGET) +ament_export_dependencies( + angles + Bullet + common_interfaces + eigen_stl_containers + Eigen3 + eigen3_cmake_module + geometric_shapes + geometry_msgs + kdl_parser + moveit_msgs + OCTOMAP + octomap_msgs + pluginlib + random_numbers + rclcpp + ruckig + sensor_msgs + shape_msgs + srdfdom + std_msgs + tf2_eigen + tf2_geometry_msgs + tf2_kdl + trajectory_msgs + urdf + urdfdom + urdfdom_headers + visualization_msgs +) # Plugin exports pluginlib_export_plugin_description_file(moveit_core collision_detector_fcl_description.xml) diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt index b1ecfd917d..b22085fed6 100644 --- a/moveit_core/collision_detection_bullet/CMakeLists.txt +++ b/moveit_core/collision_detection_bullet/CMakeLists.txt @@ -59,6 +59,8 @@ install(TARGETS moveit_collision_detection_bullet collision_detector_bullet_plug ament_export_targets(export_moveit_collision_detection_bullet HAS_LIBRARY_TARGET) if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + if(WIN32) # set(append_library_dirs "$;$") else() diff --git a/moveit_core/version/CMakeLists.txt b/moveit_core/version/CMakeLists.txt index e78801ba26..3b5fd31c9b 100644 --- a/moveit_core/version/CMakeLists.txt +++ b/moveit_core/version/CMakeLists.txt @@ -1,3 +1,3 @@ add_executable(moveit_version version.cpp) -target_include_directories(moveit_version PRIVATE ${VERSION_FILE_PATH}) +target_include_directories(moveit_version PRIVATE ${CMAKE_BINARY_DIR}/include) install(TARGETS moveit_version RUNTIME DESTINATION bin)