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CMakeLists.txt
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cmake_minimum_required(VERSION 3.22)
project(moveit_ros_control_interface LANGUAGES CXX)
find_package(ament_cmake REQUIRED)
set(THIS_PACKAGE_INCLUDE_DEPENDS
rclcpp_action controller_manager_msgs moveit_core
moveit_simple_controller_manager pluginlib trajectory_msgs)
foreach(dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${dependency} REQUIRED)
endforeach()
# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()
# Finds Boost Components
include(ConfigExtras.cmake)
add_library(moveit_ros_control_interface_plugin SHARED
src/controller_manager_plugin.cpp)
set_target_properties(
moveit_ros_control_interface_plugin
PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
target_include_directories(moveit_ros_control_interface_plugin PRIVATE include)
ament_target_dependencies(moveit_ros_control_interface_plugin
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
add_library(moveit_ros_control_interface_trajectory_plugin SHARED
src/joint_trajectory_controller_plugin.cpp)
set_target_properties(
moveit_ros_control_interface_trajectory_plugin
PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
target_include_directories(moveit_ros_control_interface_trajectory_plugin
PRIVATE include)
ament_target_dependencies(moveit_ros_control_interface_trajectory_plugin
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
add_library(moveit_ros_control_interface_gripper_plugin SHARED
src/gripper_command_controller_plugin.cpp)
set_target_properties(
moveit_ros_control_interface_gripper_plugin
PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
target_include_directories(moveit_ros_control_interface_gripper_plugin
PRIVATE include)
ament_target_dependencies(moveit_ros_control_interface_gripper_plugin
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
add_library(moveit_ros_control_interface_parallel_gripper_plugin SHARED
src/parallel_gripper_command_controller_plugin.cpp)
set_target_properties(
moveit_ros_control_interface_parallel_gripper_plugin
PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
target_include_directories(moveit_ros_control_interface_parallel_gripper_plugin
PRIVATE include)
ament_target_dependencies(moveit_ros_control_interface_parallel_gripper_plugin
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
add_library(moveit_ros_control_interface_empty_plugin SHARED
src/empty_controller_plugin.cpp)
set_target_properties(
moveit_ros_control_interface_empty_plugin
PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
target_include_directories(moveit_ros_control_interface_empty_plugin
PRIVATE include)
ament_target_dependencies(moveit_ros_control_interface_empty_plugin
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
if(BUILD_TESTING)
add_subdirectory(test)
endif()
# ##############################################################################
# Install ##
# ##############################################################################
set(TARGET_LIBRARIES
moveit_ros_control_interface_plugin
moveit_ros_control_interface_trajectory_plugin
moveit_ros_control_interface_gripper_plugin
moveit_ros_control_interface_parallel_gripper_plugin
moveit_ros_control_interface_empty_plugin)
# Mark executables and/or libraries for installation
install(
TARGETS ${TARGET_LIBRARIES}
EXPORT moveit_ros_control_interfaceTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES
DESTINATION include/moveit_ros_control_interface)
# Mark cpp header files for installation
install(DIRECTORY include/ DESTINATION include/moveit_ros_control_interface)
pluginlib_export_plugin_description_file(moveit_core moveit_core_plugins.xml)
pluginlib_export_plugin_description_file(
moveit_ros_control_interface moveit_ros_control_interface_plugins.xml)
ament_export_targets(moveit_ros_control_interfaceTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
ament_package(CONFIG_EXTRAS ConfigExtras.cmake)