moveit_task_constructor/demo/CMakeLists.txt
Robert Haschke 8318546992 Increase minimum required CMake version to 3.16
supported by Ubuntu 20.04
2025-01-19 15:55:58 +01:00

57 lines
1.9 KiB
CMake

cmake_minimum_required(VERSION 3.16)
project(moveit_task_constructor_demo)
find_package(catkin REQUIRED COMPONENTS
roscpp
moveit_core
moveit_task_constructor_core
moveit_ros_planning_interface
rosparam_shortcuts
)
moveit_build_options()
catkin_package(
CATKIN_DEPENDS roscpp
)
add_library(${PROJECT_NAME}_pick_place_task src/pick_place_task.cpp)
target_link_libraries(${PROJECT_NAME}_pick_place_task ${catkin_LIBRARIES})
target_include_directories(${PROJECT_NAME}_pick_place_task PUBLIC include)
target_include_directories(${PROJECT_NAME}_pick_place_task SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
add_dependencies(${PROJECT_NAME}_pick_place_task ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(TARGETS ${PROJECT_NAME}_pick_place_task
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# declare a demo consisting of a single cpp file
function(demo name)
add_executable(${PROJECT_NAME}_${name} src/${name}.cpp)
add_dependencies(${PROJECT_NAME}_${name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_${name} ${catkin_LIBRARIES})
target_include_directories(${PROJECT_NAME}_${name} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
set_target_properties(${PROJECT_NAME}_${name} PROPERTIES OUTPUT_NAME ${name} PREFIX "")
install(TARGETS ${PROJECT_NAME}_${name}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
endfunction()
demo(cartesian)
demo(modular)
demo(alternative_path_costs)
demo(ik_clearance_cost)
demo(fallbacks_move_to)
demo(pick_place_demo)
target_link_libraries(${PROJECT_NAME}_pick_place_demo ${PROJECT_NAME}_pick_place_task)
install(DIRECTORY launch config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
add_subdirectory(test)