moveit_task_constructor/CMakeLists.txt
Robert Haschke 6ba66b51a7 reworked TaskModels
- 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
2017-11-03 19:16:04 +01:00

79 lines
1.6 KiB
CMake

cmake_minimum_required(VERSION 2.6.12)
project(moveit_task_constructor)
set(MSG_DEPS moveit_msgs visualization_msgs)
find_package(catkin REQUIRED COMPONENTS
roscpp
genmsg ${MSG_DEPS}
moveit_core
moveit_ros_planning
moveit_ros_planning_interface
moveit_msgs
moveit_ros_visualization
eigen_conversions
rviz
)
# ROS messages, services and actions
add_message_files(DIRECTORY msg
FILES
Stage.msg
Task.msg
SubSolution.msg
SubTrajectory.msg
Solution.msg
)
add_service_files(DIRECTORY srv
FILES
GetInterfaceState.srv
GetSolution.srv
)
generate_messages(DEPENDENCIES ${MSG_DEPS})
catkin_package(
INCLUDE_DIRS include
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
set(CMAKE_CXX_STANDARD 14)
add_library(${PROJECT_NAME}
src/storage.cpp
src/stage.cpp
src/container.cpp
src/task.cpp
src/introspection.cpp
src/stage_p.h
src/container_p.h
include/${PROJECT_NAME}/utils.h
include/${PROJECT_NAME}/storage.h
include/${PROJECT_NAME}/stage.h
include/${PROJECT_NAME}/container.h
include/${PROJECT_NAME}/task.h
include/${PROJECT_NAME}/introspection.h
)
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
target_include_directories(${PROJECT_NAME}
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
)
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY include/ DESTINATION include)
install(FILES
motion_planning_tasks_rviz_plugin_description.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
add_subdirectory(src/stages)
add_subdirectory(src/demo)
add_subdirectory(src/test)
add_subdirectory(visualization)