moveit_task_constructor/CMakeLists.txt

49 lines
1.2 KiB
CMake

cmake_minimum_required(VERSION 2.6.12)
project(moveit_task_constructor)
find_package(catkin REQUIRED COMPONENTS
roscpp
moveit_core
moveit_ros_planning
moveit_ros_planning_interface
moveit_msgs
eigen_conversions
)
catkin_package(
INCLUDE_DIRS include
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_compile_options(-std=c++14)
add_library(${PROJECT_NAME}_subtasks
src/subtasks/move.cpp
src/subtasks/current_state.cpp
src/subtasks/gripper.cpp
src/subtasks/generate_grasp_pose.cpp
)
target_link_libraries(${PROJECT_NAME}_subtasks ${catkin_LIBRARIES})
add_library(${PROJECT_NAME}
src/subtask.cpp
src/task.cpp
)
add_executable(plan_pick src/plan_pick.cpp)
target_link_libraries(plan_pick ${PROJECT_NAME}_subtasks ${PROJECT_NAME})
add_executable(test_plan_current_state src/test/test_plan_current_state.cpp)
target_link_libraries(test_plan_current_state ${PROJECT_NAME}_subtasks ${PROJECT_NAME})
add_executable(test_plan_gripper src/test/test_plan_gripper.cpp)
target_link_libraries(test_plan_gripper ${PROJECT_NAME}_subtasks ${PROJECT_NAME})
add_executable(test_plan_generate_grasp_pose src/test/test_plan_generate_grasp_pose.cpp)
target_link_libraries(test_plan_generate_grasp_pose ${PROJECT_NAME}_subtasks ${PROJECT_NAME})