Merge pull request #4 from seanyen/seanyen/moveit_planners_ompl

[moveit_planners_ompl] part 1
seanyen · Jul 21, 2020 · 434f8c7 · 434f8c7
2 parents 2dd1a7c + bcd36b0
commit 434f8c7
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diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -67,21 +67,6 @@ find_library(LIBCCD_LIBRARIES_FULL ${LIBCCD_LIBRARIES} ${LIBCCD_LIBRARY_DIRS})
 set(LIBCCD_LIBRARIES "${LIBCCD_LIBRARIES_FULL}")
 endif()
 
-find_package(ASSIMP QUIET)
-if(NOT ASSIMP_FOUND)
-  find_package(PkgConfig REQUIRED)
-  # assimp is required, so REQUIRE the second attempt
-  pkg_check_modules(ASSIMP_PC REQUIRED assimp)
-  set(ASSIMP_INCLUDE_DIRS ${ASSIMP_PC_INCLUDE_DIRS})
-endif()
-
-# find *absolute* paths to ASSIMP_LIBRARIES
-# Both, pkg-config and assimp's cmake-config don't provide an absolute library path.
-# For, pkg-config the path is in ASSIMP_PC_LIBRARY_DIRS, for cmake in ASSIMP_LIBRARY_DIRS.
-find_library(ASSIMP_ABS_LIBRARIES NAMES ${ASSIMP_LIBRARIES} assimp HINTS ${ASSIMP_LIBRARY_DIRS} ${ASSIMP_PC_LIBRARY_DIRS})
-set(ASSIMP_LIBRARIES "${ASSIMP_ABS_LIBRARIES}")
-
-
 find_package(octomap REQUIRED)
 find_package(urdfdom REQUIRED)
 find_package(urdf REQUIRED)

diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt
@@ -9,20 +9,6 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-find_package(ASSIMP QUIET)
-if(NOT ASSIMP_FOUND)
-  find_package(PkgConfig REQUIRED)
-  # assimp is required, so REQUIRE the second attempt
-  pkg_check_modules(ASSIMP_PC REQUIRED assimp)
-  set(ASSIMP_INCLUDE_DIRS ${ASSIMP_PC_INCLUDE_DIRS})
-endif()
-
-# find *absolute* paths to ASSIMP_LIBRARIES
-# Both, pkg-config and assimp's cmake-config don't provide an absolute library path.
-# For, pkg-config the path is in ASSIMP_PC_LIBRARY_DIRS, for cmake in ASSIMP_LIBRARY_DIRS.
-find_library(ASSIMP_ABS_LIBRARIES NAMES ${ASSIMP_LIBRARIES} assimp HINTS ${ASSIMP_LIBRARY_DIRS} ${ASSIMP_PC_LIBRARY_DIRS})
-set(ASSIMP_LIBRARIES "${ASSIMP_ABS_LIBRARIES}")
-
 find_package(Boost REQUIRED thread)
 find_package(ament_cmake REQUIRED)
 find_package(moveit_core REQUIRED)

diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -22,20 +22,6 @@ if(APPLE)
   find_package(X11 REQUIRED)
 endif()
 
-find_package(ASSIMP QUIET)
-if(NOT ASSIMP_FOUND)
-  find_package(PkgConfig REQUIRED)
-  # assimp is required, so REQUIRE the second attempt
-  pkg_check_modules(ASSIMP_PC REQUIRED assimp)
-  set(ASSIMP_INCLUDE_DIRS ${ASSIMP_PC_INCLUDE_DIRS})
-endif()
-
-# find *absolute* paths to ASSIMP_LIBRARIES
-# Both, pkg-config and assimp's cmake-config don't provide an absolute library path.
-# For, pkg-config the path is in ASSIMP_PC_LIBRARY_DIRS, for cmake in ASSIMP_LIBRARY_DIRS.
-find_library(ASSIMP_ABS_LIBRARIES NAMES ${ASSIMP_LIBRARIES} assimp HINTS ${ASSIMP_LIBRARY_DIRS} ${ASSIMP_PC_LIBRARY_DIRS})
-set(ASSIMP_LIBRARIES "${ASSIMP_ABS_LIBRARIES}")
-
 find_package(moveit_core REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(pluginlib REQUIRED)

diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt
@@ -9,20 +9,6 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-find_package(ASSIMP QUIET)
-if(NOT ASSIMP_FOUND)
-  find_package(PkgConfig REQUIRED)
-  # assimp is required, so REQUIRE the second attempt
-  pkg_check_modules(ASSIMP_PC REQUIRED assimp)
-  set(ASSIMP_INCLUDE_DIRS ${ASSIMP_PC_INCLUDE_DIRS})
-endif()
-
-# find *absolute* paths to ASSIMP_LIBRARIES
-# Both, pkg-config and assimp's cmake-config don't provide an absolute library path.
-# For, pkg-config the path is in ASSIMP_PC_LIBRARY_DIRS, for cmake in ASSIMP_LIBRARY_DIRS.
-find_library(ASSIMP_ABS_LIBRARIES NAMES ${ASSIMP_LIBRARIES} assimp HINTS ${ASSIMP_LIBRARY_DIRS} ${ASSIMP_PC_LIBRARY_DIRS})
-set(ASSIMP_LIBRARIES "${ASSIMP_ABS_LIBRARIES}")
-
 find_package(Boost REQUIRED system filesystem date_time program_options thread chrono)
 find_package(ament_cmake REQUIRED)
 find_package(moveit_msgs REQUIRED)