moveit_task_constructor/demo/CMakeLists.txt

63 lines
1.8 KiB
CMake

cmake_minimum_required(VERSION 3.1.3)
project(moveit_task_constructor_demo)
if(NOT "${CMAKE_CXX_STANDARD}")
set(CMAKE_CXX_STANDARD 14)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
find_package(catkin REQUIRED COMPONENTS
roscpp
moveit_core
moveit_task_constructor_core
moveit_ros_planning_interface
rosparam_shortcuts
)
catkin_package(
CATKIN_DEPENDS roscpp
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME}_pick_place_task src/pick_place_task.cpp)
target_link_libraries(${PROJECT_NAME}_pick_place_task ${catkin_LIBRARIES})
add_dependencies(${PROJECT_NAME}_pick_place_task ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(TARGETS ${PROJECT_NAME}_pick_place_task
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# declare a demo consisting of a single cpp file
function(demo name)
add_executable(${PROJECT_NAME}_${name} src/${name}.cpp)
add_dependencies(${PROJECT_NAME}_${name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_${name} ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_${name} PROPERTIES OUTPUT_NAME ${name} PREFIX "")
install(TARGETS ${PROJECT_NAME}_${name}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
endfunction()
demo(cartesian)
demo(modular)
demo(alternative_path_costs)
demo(ik_clearance_cost)
demo(fallbacks_move_to)
demo(pick_place_demo)
target_link_libraries(${PROJECT_NAME}_pick_place_demo ${PROJECT_NAME}_pick_place_task)
install(DIRECTORY launch config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
add_subdirectory(test)