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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.22)
project(moveit_ros_planning LANGUAGES CXX)
# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()
find_package(ament_cmake REQUIRED)
find_package(generate_parameter_library REQUIRED)
find_package(moveit_msgs REQUIRED)
# find_package(moveit_ros_perception REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(message_filters REQUIRED)
find_package(srdfdom REQUIRED)
find_package(urdf REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(moveit_core REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(moveit_ros_occupancy_map_monitor REQUIRED)
# Finds Boost Components
include(ConfigExtras.cmake)
set(THIS_PACKAGE_INCLUDE_DIRS
rdf_loader/include
kinematics_plugin_loader/include
robot_model_loader/include
constraint_sampler_manager_loader/include
planning_pipeline/include
planning_pipeline_interfaces/include
planning_scene_monitor/include
trajectory_execution_manager/include
plan_execution/include
collision_plugin_loader/include
moveit_cpp/include
)
set(THIS_PACKAGE_LIBRARIES
moveit_rdf_loader
moveit_kinematics_plugin_loader
moveit_robot_model_loader
moveit_constraint_sampler_manager_loader
moveit_planning_pipeline
moveit_planning_pipeline_interfaces
moveit_trajectory_execution_manager
moveit_plan_execution
moveit_planning_scene_monitor
moveit_collision_plugin_loader
default_plan_request_adapter_parameters
moveit_default_planning_request_adapter_plugins
moveit_cpp
)
set(THIS_PACKAGE_INCLUDE_DEPENDS
pluginlib
generate_parameter_library
rclcpp
message_filters
srdfdom
urdf
tf2
tf2_eigen
tf2_ros
Eigen3
moveit_core
# moveit_ros_perception
moveit_ros_occupancy_map_monitor
moveit_msgs
tf2_msgs
tf2_geometry_msgs
)
include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
include_directories(SYSTEM
${EIGEN3_INCLUDE_DIRS})
add_subdirectory(collision_plugin_loader)
add_subdirectory(constraint_sampler_manager_loader)
add_subdirectory(introspection)
add_subdirectory(kinematics_plugin_loader)
add_subdirectory(moveit_cpp)
add_subdirectory(plan_execution)
add_subdirectory(planning_components_tools)
add_subdirectory(planning_pipeline)
add_subdirectory(planning_pipeline_interfaces)
add_subdirectory(planning_request_adapter_plugins)
add_subdirectory(planning_scene_monitor)
add_subdirectory(rdf_loader)
add_subdirectory(robot_model_loader)
add_subdirectory(trajectory_execution_manager)
install(
TARGETS ${THIS_PACKAGE_LIBRARIES}
EXPORT moveit_ros_planningTargets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include/moveit_ros_planning
)
ament_export_targets(moveit_ros_planningTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
pluginlib_export_plugin_description_file(moveit_core "planning_request_adapters_plugin_description.xml")
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# These don't pass yet, disable them for now
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
set(ament_cmake_uncrustify_FOUND TRUE)
set(ament_cmake_flake8_FOUND TRUE)
# Run all lint tests in package.xml except those listed above
ament_lint_auto_find_test_dependencies()
endif()
ament_package(CONFIG_EXTRAS ConfigExtras.cmake)