cmake_minimum_required(VERSION 2.6.12) project(moveit_task_constructor) find_package(catkin REQUIRED COMPONENTS roscpp moveit_core moveit_ros_planning moveit_ros_planning_interface moveit_msgs eigen_conversions ) catkin_package( INCLUDE_DIRS include ) include_directories( include ${catkin_INCLUDE_DIRS} ) add_compile_options(-std=c++14) add_library(${PROJECT_NAME}_subtasks src/subtasks/move.cpp src/subtasks/current_state.cpp src/subtasks/gripper.cpp src/subtasks/generate_grasp_pose.cpp src/subtasks/cartesian_position_motion.cpp ) target_link_libraries(${PROJECT_NAME}_subtasks ${catkin_LIBRARIES}) add_library(${PROJECT_NAME} src/subtask.cpp src/task.cpp ) add_subdirectory(src/demo) add_subdirectory(src/test)