mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-09-27 00:29:13 +08:00
49 lines
1.4 KiB
CMake
49 lines
1.4 KiB
CMake
cmake_minimum_required(VERSION 3.1.3)
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project(moveit_task_constructor_capabilities)
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find_package(catkin REQUIRED COMPONENTS
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actionlib
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moveit_core
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moveit_ros_move_group
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moveit_task_constructor_core
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moveit_task_constructor_msgs
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pluginlib
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std_msgs
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)
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moveit_build_options()
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catkin_package(
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS
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actionlib
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moveit_task_constructor_msgs
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std_msgs
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)
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# Check for availability of moveit::core::MoveItErrorCode::toString
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set(CMAKE_REQUIRED_INCLUDES ${catkin_INCLUDE_DIRS})
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set(CMAKE_REQUIRED_LIBRARIES ${catkin_LIBRARIES})
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set(CMAKE_REQUIRED_FLAGS -Wno-error)
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include(CheckCXXSymbolExists)
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check_cxx_symbol_exists(moveit::core::MoveItErrorCode::toString "moveit/utils/moveit_error_code.h" HAVE_MOVEIT_ERROR_CODE_TO_STRING)
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if(NOT HAVE_MOVEIT_ERROR_CODE_TO_STRING)
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set(HAVE_MOVEIT_ERROR_CODE_TO_STRING 0)
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endif()
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add_library(${PROJECT_NAME}
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src/execute_task_solution_capability.cpp
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)
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
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target_compile_definitions(${PROJECT_NAME} PRIVATE HAVE_MOVEIT_ERROR_CODE_TO_STRING=${HAVE_MOVEIT_ERROR_CODE_TO_STRING})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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install(TARGETS ${PROJECT_NAME}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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install(FILES capabilities_plugin_description.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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