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CMakeLists.txt
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cmake_minimum_required(VERSION 3.22)
project(moveit_hybrid_planning LANGUAGES CXX)
# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(control_msgs REQUIRED)
find_package(generate_parameter_library REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(moveit_servo REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(trajectory_msgs REQUIRED)
set(LIBRARIES
# Components
moveit_global_planner_component
moveit_hybrid_planning_manager
moveit_local_planner_component
# Plugins
forward_trajectory_plugin
motion_planning_pipeline_plugin
replan_invalidated_trajectory_plugin
servo_local_solver_plugin
simple_sampler_plugin
single_plan_execution_plugin
# Parameters
local_planner_parameters
hp_manager_parameters
forward_trajectory_parameters
servo_solver_parameters
)
set(THIS_PACKAGE_INCLUDE_DEPENDS
control_msgs
moveit_core
moveit_msgs
moveit_ros_planning
moveit_ros_planning_interface
moveit_servo
pluginlib
rclcpp
rclcpp_action
rclcpp_components
std_msgs
std_srvs
tf2_ros
trajectory_msgs
)
set(THIS_PACKAGE_INCLUDE_DIRS
global_planner/global_planner_component/include/
global_planner/global_planner_plugins/include/
hybrid_planning_manager/hybrid_planning_manager_component/include/
hybrid_planning_manager/planner_logic_plugins/include/
local_planner/local_planner_component/include/
local_planner/trajectory_operator_plugins/include/
local_planner/local_constraint_solver_plugins/include/
)
include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
add_subdirectory(hybrid_planning_manager)
add_subdirectory(global_planner)
add_subdirectory(local_planner)
add_subdirectory(test)
rclcpp_components_register_nodes(moveit_hybrid_planning_manager "moveit::hybrid_planning::HybridPlanningManager")
rclcpp_components_register_nodes(moveit_global_planner_component "moveit::hybrid_planning::GlobalPlannerComponent")
rclcpp_components_register_nodes(moveit_local_planner_component "moveit::hybrid_planning::LocalPlannerComponent")
install(TARGETS ${LIBRARIES}
EXPORT moveit_hybrid_planningTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include/moveit_hybrid_planning)
install(TARGETS cancel_action
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/moveit_hybrid_planning
INCLUDES DESTINATION include/moveit_hybrid_planning)
install(DIRECTORY ${THIS_PACKAGE_INCLUDE_DIRS} DESTINATION include/moveit_hybrid_planning)
install(DIRECTORY test/launch DESTINATION share/moveit_hybrid_planning)
install(DIRECTORY test/config DESTINATION share/moveit_hybrid_planning)
pluginlib_export_plugin_description_file(moveit_hybrid_planning plugins.xml)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_export_targets(moveit_hybrid_planningTargets HAS_LIBRARY_TARGET)
ament_package()