CMakeLists.txt

# NOTE: For some reason ament_lint_cmake [linelength] only caware omplains about
# this file
# TODO(henningkayser): Disable linelength filter once number of digits is
# configurable - set to 120 lint_cmake: -linelength
add_executable(moveit_print_planning_model_info
               src/print_planning_model_info.cpp)
target_link_libraries(moveit_print_planning_model_info
                      moveit_robot_model_loader)
ament_target_dependencies(moveit_print_planning_model_info rclcpp)

add_executable(moveit_print_planning_scene_info
               src/print_planning_scene_info.cpp)
target_link_libraries(moveit_print_planning_scene_info
                      moveit_planning_scene_monitor)
ament_target_dependencies(moveit_print_planning_scene_info rclcpp)

add_executable(moveit_display_random_state src/display_random_state.cpp)
target_link_libraries(moveit_display_random_state moveit_planning_scene_monitor)
ament_target_dependencies(moveit_display_random_state rclcpp)

add_executable(moveit_visualize_robot_collision_volume
               src/visualize_robot_collision_volume.cpp)
target_link_libraries(moveit_visualize_robot_collision_volume
                      PRIVATE moveit_planning_scene_monitor)
ament_target_dependencies(moveit_visualize_robot_collision_volume PUBLIC rclcpp
                          tf2_ros)

add_executable(moveit_evaluate_collision_checking_speed
               src/evaluate_collision_checking_speed.cpp)
target_link_libraries(moveit_evaluate_collision_checking_speed
                      moveit_planning_scene_monitor)
ament_target_dependencies(moveit_evaluate_collision_checking_speed rclcpp Boost)

if("${catkin_LIBRARIES}" MATCHES "moveit_collision_detection_bullet")
  add_executable(moveit_compare_collision_checking_speed_fcl_bullet
                 src/compare_collision_speed_checking_fcl_bullet.cpp)
  target_link_libraries(
    moveit_compare_collision_checking_speed_fcl_bullet
    moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
endif()

add_executable(moveit_publish_scene_from_text src/publish_scene_from_text.cpp)
target_link_libraries(
  moveit_publish_scene_from_text PRIVATE moveit_planning_scene_monitor
                                         moveit_robot_model_loader)
ament_target_dependencies(moveit_publish_scene_from_text PUBLIC rclcpp)

install(
  TARGETS moveit_print_planning_model_info
          moveit_print_planning_scene_info
          moveit_display_random_state
          moveit_visualize_robot_collision_volume
          moveit_evaluate_collision_checking_speed
          moveit_publish_scene_from_text
  RUNTIME DESTINATION lib/${PROJECT_NAME})
# lint_cmake: