106 lines
3.6 KiB
CMake
106 lines
3.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(robossembler)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(moveit_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(plansys2_msgs REQUIRED)
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find_package(plansys2_domain_expert REQUIRED)
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find_package(plansys2_executor REQUIRED)
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find_package(plansys2_planner REQUIRED)
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find_package(plansys2_problem_expert REQUIRED)
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find_package(plansys2_pddl_parser REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(plansys2_bt_actions REQUIRED)
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find_package(gazebo_msgs REQUIRED)
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find_package(robossembler_interfaces REQUIRED)
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find_package(behavior_tree REQUIRED)
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find_package(control_msgs REQUIRED)
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find_package(scene_monitor_interfaces REQUIRED)
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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(dependencies
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rclcpp
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rclcpp_action
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geometry_msgs tf2_geometry_msgs
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moveit_msgs
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moveit_core
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moveit_ros_planning
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moveit_ros_planning_interface
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plansys2_msgs
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plansys2_domain_expert
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plansys2_executor
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plansys2_planner
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plansys2_problem_expert
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plansys2_pddl_parser
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ament_index_cpp
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plansys2_bt_actions
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gazebo_msgs
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robossembler_interfaces
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behavior_tree
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std_msgs
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control_msgs
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scene_monitor_interfaces
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)
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include_directories(include)
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add_library(robossembler_move_topose_bt_action_client SHARED src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp)
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list(APPEND plugin_libs robossembler_move_topose_bt_action_client)
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add_library(robossembler_get_entity_state_bt_action_client SHARED src/behavior_tree_nodes/atomic_skills/GetEntityState.cpp)
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list(APPEND plugin_libs robossembler_get_entity_state_bt_action_client)
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add_library(robossembler_move_gripper_bt_action_client SHARED src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp)
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list(APPEND plugin_libs robossembler_move_gripper_bt_action_client)
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add_library(robossembler_print_bt_node SHARED src/behavior_tree_nodes/Print.cpp)
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list(APPEND plugin_libs robossembler_print_bt_node)
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add_library(robossembler_get_grasp_poses_bt_action_client SHARED src/behavior_tree_nodes/atomic_skills/GetGraspPoses.cpp)
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list(APPEND plugin_libs robossembler_get_grasp_poses_bt_action_client)
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add_library(robossembler_get_workspace_placement_pose_bt_action_client SHARED src/behavior_tree_nodes/atomic_skills/GetWorkspacePlacementPose.cpp)
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list(APPEND plugin_libs robossembler_get_workspace_placement_pose_bt_action_client)
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add_library(robossembler_construct_workspace_placement_pose_bt_action_client SHARED src/behavior_tree_nodes/atomic_skills/ConstructWorkspacePlacementPose.cpp)
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list(APPEND plugin_libs robossembler_construct_workspace_placement_pose_bt_action_client)
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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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add_executable(move_controller_node src/move_controller_node.cpp)
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ament_target_dependencies(move_controller_node ${dependencies})
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install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME})
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install(TARGETS
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move_controller_node
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${plugin_libs}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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endif()
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ament_export_dependencies(${dependencies})
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ament_package()
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