mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
- separate RemoteTaskModel / LocalTaskModel, reusing existing storage - TaskListModel collects several TaskModels - TaskListModelCache: global singleton, maintaining TaskListModel of all tasks in system (used by panels) - create LocalTask from stages available via pluglinlib
79 lines
1.6 KiB
CMake
79 lines
1.6 KiB
CMake
cmake_minimum_required(VERSION 2.6.12)
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project(moveit_task_constructor)
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set(MSG_DEPS moveit_msgs visualization_msgs)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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genmsg ${MSG_DEPS}
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moveit_core
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moveit_ros_planning
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moveit_ros_planning_interface
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moveit_msgs
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moveit_ros_visualization
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eigen_conversions
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rviz
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)
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# ROS messages, services and actions
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add_message_files(DIRECTORY msg
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FILES
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Stage.msg
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Task.msg
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SubSolution.msg
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SubTrajectory.msg
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Solution.msg
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)
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add_service_files(DIRECTORY srv
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FILES
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GetInterfaceState.srv
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GetSolution.srv
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)
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generate_messages(DEPENDENCIES ${MSG_DEPS})
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catkin_package(
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INCLUDE_DIRS include
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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set(CMAKE_CXX_STANDARD 14)
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add_library(${PROJECT_NAME}
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src/storage.cpp
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src/stage.cpp
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src/container.cpp
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src/task.cpp
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src/introspection.cpp
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src/stage_p.h
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src/container_p.h
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include/${PROJECT_NAME}/utils.h
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include/${PROJECT_NAME}/storage.h
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include/${PROJECT_NAME}/stage.h
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include/${PROJECT_NAME}/container.h
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include/${PROJECT_NAME}/task.h
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include/${PROJECT_NAME}/introspection.h
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)
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add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
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target_include_directories(${PROJECT_NAME}
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
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)
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(DIRECTORY include/ DESTINATION include)
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install(FILES
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motion_planning_tasks_rviz_plugin_description.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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add_subdirectory(src/stages)
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add_subdirectory(src/demo)
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add_subdirectory(src/test)
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add_subdirectory(visualization)
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