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82 lines
2.6 KiB
CMake
82 lines
2.6 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(moveit_task_constructor_demo)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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find_package(ament_cmake REQUIRED)
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find_package(generate_parameter_library REQUIRED)
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find_package(moveit_common REQUIRED)
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moveit_package()
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find_package(moveit_core REQUIRED)
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find_package(moveit_ros_planning REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(moveit_task_constructor_core REQUIRED)
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find_package(moveit_task_constructor_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(tf2_eigen REQUIRED)
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add_library(${PROJECT_NAME}_pick_place_task SHARED src/pick_place_task.cpp)
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target_link_libraries(${PROJECT_NAME}_pick_place_task ${moveit_task_constructor_core_TARGETS})
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install(TARGETS ${PROJECT_NAME}_pick_place_task
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME})
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include_directories(include)
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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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set(parameter_filename ${name}_parameters)
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/src/${parameter_filename}.yaml)
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generate_parameter_library(${parameter_filename} src/${parameter_filename}.yaml)
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target_link_libraries(${PROJECT_NAME}_${name} ${parameter_filename})
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endif()
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target_link_libraries(${PROJECT_NAME}_${name} ${moveit_task_constructor_core_TARGETS})
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set_target_properties(${PROJECT_NAME}_${name} PROPERTIES OUTPUT_NAME ${name} PREFIX "")
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install(TARGETS ${PROJECT_NAME}_${name}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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endfunction()
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demo(cartesian)
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demo(modular)
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demo(alternative_path_costs)
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demo(ik_clearance_cost)
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demo(fallbacks_move_to)
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demo(pick_place_demo)
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target_link_libraries(${PROJECT_NAME}_pick_place_task pick_place_demo_parameters)
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target_link_libraries(${PROJECT_NAME}_pick_place_demo ${PROJECT_NAME}_pick_place_task)
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install(PROGRAMS
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scripts/alternatives.py
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scripts/cartesian.py
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scripts/compute_ik.py
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scripts/constrained.py
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scripts/current_state.py
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scripts/fallbacks.py
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scripts/fix_collision_objects.py
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scripts/fixed_state.py
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scripts/generate_pose.py
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scripts/merger.py
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scripts/modify_planning_scene.py
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scripts/multi_planner.py
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scripts/pickplace.py
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scripts/properties.py
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DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY launch config
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DESTINATION share/${PROJECT_NAME}
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)
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# TODO: Port tests
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# add_subdirectory(test)
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ament_package()
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