cmake_minimum_required(VERSION 3.16) project(moveit_task_constructor_capabilities) find_package(fmt REQUIRED) find_package(catkin REQUIRED COMPONENTS actionlib moveit_core moveit_ros_move_group moveit_task_constructor_core moveit_task_constructor_msgs pluginlib std_msgs ) moveit_build_options() catkin_package( LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS actionlib moveit_task_constructor_msgs std_msgs ) # Check for availability of moveit::core::MoveItErrorCode::toString set(CMAKE_REQUIRED_INCLUDES ${catkin_INCLUDE_DIRS}) set(CMAKE_REQUIRED_LIBRARIES ${catkin_LIBRARIES}) set(CMAKE_REQUIRED_FLAGS -Wno-error) include(CheckCXXSymbolExists) add_library(${PROJECT_NAME} src/execute_task_solution_capability.cpp ) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS}) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} fmt::fmt) install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ) install(FILES capabilities_plugin_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )