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 ) target_link_libraries(${PROJECT_NAME}_subtasks ${catkin_LIBRARIES}) add_library(${PROJECT_NAME} src/subtask.cpp src/task.cpp ) add_executable(plan_pick src/plan_pick.cpp) target_link_libraries(plan_pick ${PROJECT_NAME}_subtasks ${PROJECT_NAME}) add_executable(test_plan_current_state src/test/test_plan_current_state.cpp) target_link_libraries(test_plan_current_state ${PROJECT_NAME}_subtasks ${PROJECT_NAME}) add_executable(test_plan_gripper src/test/test_plan_gripper.cpp) target_link_libraries(test_plan_gripper ${PROJECT_NAME}_subtasks ${PROJECT_NAME}) add_executable(test_plan_generate_grasp_pose src/test/test_plan_generate_grasp_pose.cpp) target_link_libraries(test_plan_generate_grasp_pose ${PROJECT_NAME}_subtasks ${PROJECT_NAME})