118 lines
3.9 KiB
CMake
118 lines
3.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(scene_component)
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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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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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set(CMAKE_CXX_STANDARD_REQUIRED True)
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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_package(ament_cmake REQUIRED)
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find_package(ament_cmake_ros REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(ros_gz_bridge REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(env_manager REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(moveit_core REQUIRED)
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find_package(moveit_msgs 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(component_interfaces REQUIRED)
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find_package(ignition-transport11 REQUIRED)
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set(GZ_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
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find_package(ignition-msgs8 REQUIRED)
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set(GZ_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
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set(GZ_TARGET_PREFIX ignition)
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message(STATUS "Compiling against Ignition Fortress")
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add_library(ign_tf2_broadcaster_component SHARED
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src/ign_tf2_broadcaster_component.cpp)
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target_compile_definitions(ign_tf2_broadcaster_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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target_link_libraries(ign_tf2_broadcaster_component
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${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
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${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
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)
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ament_target_dependencies(ign_tf2_broadcaster_component
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"ros_gz_bridge"
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"rclcpp"
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"rclcpp_components"
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"env_manager"
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"geometry_msgs"
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"tf2_ros")
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rclcpp_components_register_nodes(ign_tf2_broadcaster_component "scene_component::IgnTf2Broadcaster")
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set(node_plugins "${node_plugins}scene_component::IgnTf2Broadcaster;$<TARGET_FILE:scene_component>\n")
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add_library(ign_detect_object_component SHARED
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src/ign_detect_object_component.cpp)
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target_compile_definitions(ign_detect_object_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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target_link_libraries(ign_detect_object_component
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${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
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${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
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)
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ament_target_dependencies(ign_detect_object_component
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"ros_gz_bridge"
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"rclcpp"
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"rclcpp_components"
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"env_manager"
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"geometry_msgs"
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"tf2_ros"
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"component_interfaces")
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rclcpp_components_register_nodes(ign_detect_object_component "scene_component::IgnDetectOpjectService")
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set(node_plugins "${node_plugins}scene_component::IgnDetectObjectService;$<TARGET_FILE:scene_component>\n")
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add_library(moveit_scene_component SHARED
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src/moveit_scene_component.cpp)
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target_compile_definitions(moveit_scene_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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ament_target_dependencies(moveit_scene_component
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"rclcpp"
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"rclcpp_components"
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"env_manager"
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"geometry_msgs"
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"tf2_ros"
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"moveit_core"
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"moveit_msgs"
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"moveit_ros_planning"
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"moveit_ros_planning_interface")
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rclcpp_components_register_nodes(moveit_scene_component "scene_component::MoveitSceneComponent")
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set(node_plugins "${node_plugins}scene_component::MoveitSceneComponent;$<TARGET_FILE:scene_component>\n")
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install(
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TARGETS
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ign_detect_object_component
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ign_tf2_broadcaster_component
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moveit_scene_component
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DESTINATION
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lib)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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