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49 lines
1.6 KiB
CMake
49 lines
1.6 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(moveit_task_constructor_capabilities)
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find_package(ament_cmake REQUIRED)
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find_package(fmt REQUIRED)
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find_package(Boost 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_move_group REQUIRED)
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find_package(moveit_ros_planning 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(pluginlib REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(std_msgs REQUIRED)
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add_library(${PROJECT_NAME} SHARED
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src/execute_task_solution_capability.cpp
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)
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ament_target_dependencies(${PROJECT_NAME}
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Boost
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fmt
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rclcpp_action
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moveit_core
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moveit_ros_move_group
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moveit_ros_planning
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moveit_task_constructor_core
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moveit_task_constructor_msgs
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)
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install(TARGETS ${PROJECT_NAME}
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LIBRARY DESTINATION lib
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)
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add_subdirectory(test)
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pluginlib_export_plugin_description_file(moveit_ros_move_group capabilities_plugin_description.xml)
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ament_export_dependencies(moveit_core)
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ament_export_dependencies(moveit_ros_move_group)
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ament_export_dependencies(moveit_ros_planning)
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ament_export_dependencies(moveit_task_constructor_core)
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ament_export_dependencies(moveit_task_constructor_msgs)
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ament_export_dependencies(pluginlib)
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ament_export_dependencies(rclcpp_action)
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ament_export_dependencies(std_msgs)
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ament_package()
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