mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-09-27 00:29:13 +08:00
57 lines
1.9 KiB
CMake
57 lines
1.9 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(moveit_task_constructor_demo)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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moveit_core
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moveit_task_constructor_core
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moveit_ros_planning_interface
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rosparam_shortcuts
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)
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moveit_build_options()
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catkin_package(
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CATKIN_DEPENDS roscpp
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)
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add_library(${PROJECT_NAME}_pick_place_task src/pick_place_task.cpp)
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target_link_libraries(${PROJECT_NAME}_pick_place_task ${catkin_LIBRARIES})
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target_include_directories(${PROJECT_NAME}_pick_place_task PUBLIC include)
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target_include_directories(${PROJECT_NAME}_pick_place_task SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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add_dependencies(${PROJECT_NAME}_pick_place_task ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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install(TARGETS ${PROJECT_NAME}_pick_place_task
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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# declare a demo consisting of a single cpp file
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function(demo name)
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add_executable(${PROJECT_NAME}_${name} src/${name}.cpp)
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add_dependencies(${PROJECT_NAME}_${name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME}_${name} ${catkin_LIBRARIES})
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target_include_directories(${PROJECT_NAME}_${name} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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set_target_properties(${PROJECT_NAME}_${name} PROPERTIES OUTPUT_NAME ${name} PREFIX "")
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install(TARGETS ${PROJECT_NAME}_${name}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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endfunction()
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demo(cartesian)
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demo(modular)
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demo(alternative_path_costs)
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demo(ik_clearance_cost)
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demo(fallbacks_move_to)
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demo(pick_place_demo)
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target_link_libraries(${PROJECT_NAME}_pick_place_demo ${PROJECT_NAME}_pick_place_task)
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install(DIRECTORY launch config
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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add_subdirectory(test)
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