cmake_minimum_required(VERSION 2.6.12) project(moveit_task_constructor) set(MSG_DEPS moveit_msgs visualization_msgs) find_package(catkin REQUIRED COMPONENTS roscpp genmsg ${MSG_DEPS} moveit_core moveit_ros_planning moveit_ros_planning_interface moveit_msgs moveit_ros_visualization eigen_conversions rviz ) # ROS messages, services and actions add_message_files(DIRECTORY msg FILES Stage.msg Task.msg SubSolution.msg SubTrajectory.msg Solution.msg ) add_service_files(DIRECTORY srv FILES GetInterfaceState.srv GetSolution.srv ) generate_messages(DEPENDENCIES ${MSG_DEPS}) catkin_package( INCLUDE_DIRS include ) include_directories( include ${catkin_INCLUDE_DIRS} ) set(CMAKE_CXX_STANDARD 14) add_library(${PROJECT_NAME} src/storage.cpp src/stage.cpp src/container.cpp src/task.cpp src/introspection.cpp src/stage_p.h src/container_p.h include/${PROJECT_NAME}/utils.h include/${PROJECT_NAME}/storage.h include/${PROJECT_NAME}/stage.h include/${PROJECT_NAME}/container.h include/${PROJECT_NAME}/task.h include/${PROJECT_NAME}/introspection.h ) add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp) target_include_directories(${PROJECT_NAME} PUBLIC $ ) install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) install(DIRECTORY include/ DESTINATION include) install(FILES motion_planning_tasks_rviz_plugin_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) add_subdirectory(src/stages) add_subdirectory(src/demo) add_subdirectory(src/test) add_subdirectory(visualization)