moveit_task_constructor/capabilities/CMakeLists.txt
Robert Haschke 4a42072e96
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Replace deprecated ament_target_dependencies()
2025-09-10 12:15:43 +02:00

48 lines
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CMake

cmake_minimum_required(VERSION 3.16)
project(moveit_task_constructor_capabilities)
find_package(ament_cmake REQUIRED)
find_package(fmt REQUIRED)
find_package(Boost REQUIRED)
find_package(moveit_common REQUIRED)
moveit_package()
find_package(moveit_core REQUIRED)
find_package(moveit_ros_move_group REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_task_constructor_core REQUIRED)
find_package(moveit_task_constructor_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(std_msgs REQUIRED)
add_library(${PROJECT_NAME} SHARED
src/execute_task_solution_capability.cpp
)
target_link_libraries(${PROJECT_NAME} PUBLIC
fmt
${rclcpp_action_TARGETS}
${moveit_core_TARGETS}
${moveit_ros_move_group_TARGETS}
${moveit_ros_planning_TARGETS}
${moveit_task_constructor_core_TARGETS}
${moveit_task_constructor_msgs_TARGETS}
)
install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION lib
)
add_subdirectory(test)
pluginlib_export_plugin_description_file(moveit_ros_move_group capabilities_plugin_description.xml)
ament_export_dependencies(moveit_core)
ament_export_dependencies(moveit_ros_move_group)
ament_export_dependencies(moveit_ros_planning)
ament_export_dependencies(moveit_task_constructor_core)
ament_export_dependencies(moveit_task_constructor_msgs)
ament_export_dependencies(pluginlib)
ament_export_dependencies(rclcpp_action)
ament_export_dependencies(std_msgs)
ament_package()