86 lines
2.2 KiB
CMake
86 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rasms_moveit_actions)
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#find_package(moveit_common REQUIRED)
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#moveit_package()
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(Eigen3 REQUIRED)
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find_package(Boost REQUIRED system filesystem date_time thread)
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find_package(ament_cmake REQUIRED)
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find_package(control_msgs REQUIRED)
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find_package(moveit_core REQUIRED)
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find_package(moveit_ros_planning REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(moveit_ros_perception REQUIRED)
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find_package(moveit_servo REQUIRED)
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find_package(moveit_visual_tools REQUIRED)
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find_package(geometric_shapes REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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ament_cmake
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rclcpp
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rclcpp_action
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tf2_geometry_msgs
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tf2_ros
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moveit_core
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moveit_visual_tools
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moveit_ros_planning_interface
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tf2_geometry_msgs
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moveit_ros_planning
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pluginlib
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Eigen3
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Boost
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control_msgs
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moveit_servo
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)
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include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
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add_executable(rasms_moveit src/run_moveit.cpp)
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target_include_directories(rasms_moveit PUBLIC include)
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ament_target_dependencies(rasms_moveit
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${THIS_PACKAGE_INCLUDE_DEPENDS} Boost
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)
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install(TARGETS rasms_moveit
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DESTINATION lib/${PROJECT_NAME}
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)
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add_executable(rasms_move_group_interface src/rasms_move_group_interface.cpp)
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target_include_directories(rasms_move_group_interface PUBLIC include)
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ament_target_dependencies(rasms_move_group_interface
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${THIS_PACKAGE_INCLUDE_DEPENDS} Boost
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)
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install(TARGETS rasms_move_group_interface
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DESTINATION lib/${PROJECT_NAME}
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)
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#install(TARGETS rasms_moveit
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# EXPORT export_${PROJECT_NAME}
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# LIBRARY DESTINATION lib
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# ARCHIVE DESTINATION lib
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# RUNTIME DESTINATION lib/${PROJECT_NAME}
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# INCLUDES DESTINATION include
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#)
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#ament_export_targets(export_${PROJECT_NAME})
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ament_package()
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