33 lines
964 B
CMake
33 lines
964 B
CMake
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find_package(behaviortree_ros2 REQUIRED)
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find_package(behaviortree_cpp REQUIRED)
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find_package(rbs_skill_interfaces REQUIRED)
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find_package(geometry_msgs REQUIRED)
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# find_package(std_srvs REQUIRED)
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# Behaviortree interfaces
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set(dependencies
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rclcpp
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rbs_skill_interfaces
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geometry_msgs
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behaviortree_ros2
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std_srvs
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)
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add_library(vacuum_gripper_toggle SHARED plugins/vacuum_gripper_toggle.cpp)
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list(APPEND plugin_libs vacuum_gripper_toggle)
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add_library(get_grasp_place_pose SHARED plugins/get_grasp_place_pose.cpp)
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list(APPEND plugin_libs get_grasp_place_pose)
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foreach(bt_plugin ${plugin_libs})
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ament_target_dependencies(${bt_plugin} ${dependencies})
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target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
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endforeach()
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install(TARGETS
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${plugin_libs}
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ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
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LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
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RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
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)
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