plansys2: initialize move group interface

rasms_manipulator/CMakeLists.txt

@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 3.5)
+project(rasms_manipulator)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(moveit_msgs REQUIRED)
+find_package(moveit_core REQUIRED)
+find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+find_package(plansys2_msgs REQUIRED)
+find_package(plansys2_domain_expert REQUIRED)
+find_package(plansys2_executor REQUIRED)
+find_package(plansys2_planner REQUIRED)
+find_package(plansys2_problem_expert REQUIRED)
+find_package(plansys2_pddl_parser REQUIRED)
+find_package(ament_index_cpp REQUIRED)              #wtf?
+find_package(plansys2_bt_actions REQUIRED)
+
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif()
+
+set(dependencies
+    rclcpp
+    rclcpp_action
+    geometry_msgs
+    tf2_geometry_msgs
+    moveit_msgs
+    moveit_core
+    moveit_ros_planning
+    moveit_ros_planning_interface
+    plansys2_msgs
+    plansys2_domain_expert
+    plansys2_executor
+    plansys2_planner
+    plansys2_problem_expert
+    plansys2_pddl_parser
+    ament_index_cpp
+    plansys2_bt_actions
+)
+
+include_directories(include)
+
+add_library(plansys2_move_bt_node SHARED src/behavior_tree_nodes/Move.cpp)
+list(APPEND plugin_libs plansys2_move_bt_node)
+
+foreach(bt_plugin ${plugin_libs})
+    ament_target_dependencies(${bt_plugin} ${dependencies})
+    target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
+endforeach()
+
+add_executable(assemble_action_node src/assemble_action_node.cpp)
+ament_target_dependencies(assemble_action_node ${dependencies})
+
+add_executable(assemble_controller_node src/assemble_controller_node.cpp)
+ament_target_dependencies(assemble_controller_node ${dependencies})
+
+install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME})
+
+install(TARGETS
+    assemble_action_node
+    assemble_controller_node
+    ${plugin_libs}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest REQUIRED)
+endif()
+
+ament_export_dependencies(${dependencies})
+
+ament_package()