cmake_minimum_required(VERSION 3.16) project(moveit_task_constructor_capabilities) find_package(ament_cmake REQUIRED) find_package(fmt REQUIRED) find_package(Boost REQUIRED) find_package(moveit_common REQUIRED) moveit_package() find_package(moveit_core REQUIRED) find_package(moveit_ros_move_group REQUIRED) find_package(moveit_ros_planning REQUIRED) find_package(moveit_task_constructor_core REQUIRED) find_package(moveit_task_constructor_msgs REQUIRED) find_package(pluginlib REQUIRED) find_package(rclcpp_action REQUIRED) find_package(std_msgs REQUIRED) add_library(${PROJECT_NAME} SHARED src/execute_task_solution_capability.cpp ) ament_target_dependencies(${PROJECT_NAME} Boost fmt rclcpp_action moveit_core moveit_ros_move_group moveit_ros_planning moveit_task_constructor_core moveit_task_constructor_msgs ) install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib ) add_subdirectory(test) pluginlib_export_plugin_description_file(moveit_ros_move_group capabilities_plugin_description.xml) ament_export_dependencies(moveit_core) ament_export_dependencies(moveit_ros_move_group) ament_export_dependencies(moveit_ros_planning) ament_export_dependencies(moveit_task_constructor_core) ament_export_dependencies(moveit_task_constructor_msgs) ament_export_dependencies(pluginlib) ament_export_dependencies(rclcpp_action) ament_export_dependencies(std_msgs) ament_package()