moveit_task_constructor/capabilities/CMakeLists.txt
2022-11-19 10:40:09 +01:00

49 lines
1.4 KiB
CMake

cmake_minimum_required(VERSION 3.1.3)
project(moveit_task_constructor_capabilities)
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 ${catkin_LIBRARIES})
set(CMAKE_REQUIRED_FLAGS -Wno-error)
include(CheckCXXSymbolExists)
check_cxx_symbol_exists(moveit::core::MoveItErrorCode::toString "moveit/utils/moveit_error_code.h" HAVE_MOVEIT_ERROR_CODE_TO_STRING)
if(NOT HAVE_MOVEIT_ERROR_CODE_TO_STRING)
set(HAVE_MOVEIT_ERROR_CODE_TO_STRING 0)
endif()
add_library(${PROJECT_NAME}
src/execute_task_solution_capability.cpp
)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
target_compile_definitions(${PROJECT_NAME} PRIVATE HAVE_MOVEIT_ERROR_CODE_TO_STRING=${HAVE_MOVEIT_ERROR_CODE_TO_STRING})
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES capabilities_plugin_description.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)