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CMakeLists.txt
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CMakeLists.txt
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set(MOVEIT_LIB_NAME moveit_robot_model)
add_library(${MOVEIT_LIB_NAME}
src/fixed_joint_model.cpp
src/floating_joint_model.cpp
src/joint_model.cpp
src/joint_model_group.cpp
src/link_model.cpp
src/planar_joint_model.cpp
src/prismatic_joint_model.cpp
src/revolute_joint_model.cpp
src/robot_model.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
target_link_libraries(${MOVEIT_LIB_NAME} moveit_profiler moveit_exceptions moveit_kinematics_base ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
if(CATKIN_ENABLE_TESTING)
find_package(moveit_resources REQUIRED)
include_directories(${moveit_resources_INCLUDE_DIRS})
catkin_add_gtest(test_robot_model test/test.cpp)
target_link_libraries(test_robot_model ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
endif()
install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})