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https://github.com/moveit/moveit_task_constructor.git
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Split ClassLoader plugin code from main libraries (#271)
to work around https://github.com/ros/class_loader/issues/131
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@ -18,6 +18,7 @@ catkin_package(
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LIBRARIES
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${PROJECT_NAME}
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${PROJECT_NAME}_stages
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${PROJECT_NAME}_stage_plugins
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INCLUDE_DIRS
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include
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CATKIN_DEPENDS
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@ -1,4 +1,4 @@
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<library path="libmoveit_task_constructor_core_stages">
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<library path="libmoveit_task_constructor_core_stage_plugins">
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<class name="moveit_task_constructor/Current State"
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type="moveit::task_constructor::stages::CurrentState"
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base_class_type="moveit::task_constructor::Stage">
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@ -41,6 +41,11 @@ add_library(${PROJECT_NAME}_stages
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)
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target_link_libraries(${PROJECT_NAME}_stages ${PROJECT_NAME} ${catkin_LIBRARIES})
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install(TARGETS ${PROJECT_NAME}_stages
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add_library(${PROJECT_NAME}_stage_plugins
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plugins.cpp
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)
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target_link_libraries(${PROJECT_NAME}_stage_plugins ${PROJECT_NAME}_stages ${catkin_LIBRARIES})
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install(TARGETS ${PROJECT_NAME}_stages ${PROJECT_NAME}_stage_plugins
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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@ -96,7 +96,3 @@ void CurrentState::compute() {
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} // namespace stages
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} // namespace task_constructor
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} // namespace moveit
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/// register plugin
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#include <pluginlib/class_list_macros.h>
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PLUGINLIB_EXPORT_CLASS(moveit::task_constructor::stages::CurrentState, moveit::task_constructor::Stage)
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7
core/src/stages/plugins.cpp
Normal file
7
core/src/stages/plugins.cpp
Normal file
@ -0,0 +1,7 @@
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#include <moveit/task_constructor/stages/current_state.h>
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#include <pluginlib/class_list_macros.h>
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/// register plugins to use with ClassLoader
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PLUGINLIB_EXPORT_CLASS(moveit::task_constructor::stages::CurrentState, moveit::task_constructor::Stage)
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