cmake_minimum_required(VERSION 3.1.3) project(moveit_task_constructor_demo) add_compile_options(-std=c++14) find_package(catkin REQUIRED COMPONENTS roscpp moveit_core moveit_task_constructor_core moveit_ros_planning_interface rosparam_shortcuts ) catkin_package( CATKIN_DEPENDS roscpp ) include_directories( include ${catkin_INCLUDE_DIRS} ) add_executable(cartesian src/cartesian.cpp) target_link_libraries(cartesian ${catkin_LIBRARIES}) add_executable(modular src/modular.cpp) target_link_libraries(modular ${catkin_LIBRARIES}) add_library(pick_place_task OBJECT src/pick_place_task.cpp) add_executable(pick_place_demo src/pick_place_demo.cpp $) target_link_libraries(pick_place_demo ${catkin_LIBRARIES}) add_executable(alternative_path_costs src/alternative_path_costs.cpp) target_link_libraries(alternative_path_costs ${catkin_LIBRARIES}) add_executable(ik_clearance_cost src/ik_clearance_cost.cpp) target_link_libraries(ik_clearance_cost ${catkin_LIBRARIES}) install(TARGETS cartesian modular pick_place_demo ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) add_subdirectory(test)