moveit2_scripts/CMakeLists.txt at master · WikiGenius/moveit2_scripts · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
cmake_minimum_required(VERSION 3.8)
project(moveit2_scripts)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(interactive_markers REQUIRED)
find_package(geometric_shapes REQUIRED)
find_package(control_msgs REQUIRED)
find_package(moveit_msgs REQUIRED)

# Create the library from approach_and_retreat_node.cpp
add_library(approach_and_retreat_lib SHARED src/approach_and_retreat_node.cpp)
add_library(draw_x_lib SHARED src/draw_x_node.cpp)

# Generate the executable
add_executable(test_trajectory
  src/test_trajectory.cpp)
add_executable(test_trajectory2
  src/test_trajectory2.cpp)
add_executable(test_trajectory3
  src/test_trajectory3.cpp)
add_executable(test_gripper
  src/test_gripper.cpp)
add_executable(approach_retreat
  src/approach_retreat.cpp)
add_executable(draw_x
  src/draw_x.cpp)

target_include_directories(test_trajectory
  PUBLIC)
target_include_directories(test_trajectory2
  PUBLIC)
target_include_directories(test_trajectory3
  PUBLIC)
target_include_directories(test_gripper
  PUBLIC)
# Specify include directories for the library (if your header files are in the include folder)
target_include_directories(approach_and_retreat_lib PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)
# Specify include directories for the executable
target_include_directories(approach_retreat PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)

target_include_directories(draw_x_lib PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)
# Specify include directories for the executable
target_include_directories(draw_x PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)


ament_target_dependencies(test_trajectory
  ament_cmake
  rclcpp
  rclcpp_action
  moveit_core
  moveit_ros_planning_interface
  interactive_markers
  moveit_ros_planning
  control_msgs)
ament_target_dependencies(test_trajectory2
  ament_cmake
  rclcpp
  rclcpp_action
  moveit_core
  moveit_ros_planning_interface
  interactive_markers
  moveit_ros_planning
  control_msgs)
ament_target_dependencies(test_trajectory3
  ament_cmake
  rclcpp
  rclcpp_action
  moveit_core
  moveit_ros_planning_interface
  interactive_markers
  moveit_ros_planning
  control_msgs)
ament_target_dependencies(test_gripper
  ament_cmake
  rclcpp
  rclcpp_action
  moveit_core
  moveit_ros_planning_interface
  interactive_markers
  moveit_ros_planning
  control_msgs)

ament_target_dependencies(approach_and_retreat_lib
  ament_cmake
  rclcpp
  rclcpp_action
  moveit_core
  moveit_ros_planning_interface
  interactive_markers
  moveit_ros_planning
  control_msgs)

ament_target_dependencies(draw_x_lib
  ament_cmake
  rclcpp
  rclcpp_action
  moveit_core
  moveit_ros_planning_interface
  interactive_markers
  moveit_ros_planning
  control_msgs)
# Link the approach_retreat_node executable with the approach_and_retreat_node library
target_link_libraries(approach_retreat approach_and_retreat_lib)
target_link_libraries(draw_x draw_x_lib)


# Install the library
install(TARGETS approach_and_retreat_lib
  EXPORT export_${PROJECT_NAME}
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION)

install(TARGETS draw_x_lib
  EXPORT export_${PROJECT_NAME}
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION)
# Install the executable
install(TARGETS
  test_trajectory
  test_trajectory2
  test_trajectory3
  test_gripper
  approach_retreat
  draw_x
  DESTINATION lib/${PROJECT_NAME}
)

# Install header files
install(DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)
# Install the launch file
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}
)

ament_package()