Remove unnecessary CMake variables and lists

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)

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 "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
   else()

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)