moveit_task_constructor/capabilities/CMakeLists.txt
2021-04-23 23:49:50 +02:00

50 lines
1.1 KiB
CMake

cmake_minimum_required(VERSION 3.1.3)
project(moveit_task_constructor_capabilities)
add_compile_options(-std=c++14)
find_package(catkin REQUIRED COMPONENTS
actionlib
moveit_core
moveit_ros_move_group
moveit_task_constructor_msgs
pluginlib
std_msgs
)
catkin_package(
LIBRARIES $PROJECT_NAME}
CATKIN_DEPENDS
actionlib
moveit_task_constructor_msgs
std_msgs
)
# check for MOVEIT_MASTER
include(CheckIncludeFileCXX)
set(CMAKE_REQUIRED_INCLUDES ${moveit_core_INCLUDE_DIRS})
set(CMAKE_REQUIRED_FLAGS "-std=c++11")
CHECK_INCLUDE_FILE_CXX(moveit/collision_detection/collision_env.h MOVEIT_MASTER)
if(NOT MOVEIT_MASTER)
set(MOVEIT_MASTER 0)
endif()
add_definitions(-DMOVEIT_MASTER=${MOVEIT_MASTER})
include_directories(
${catkin_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME}
src/execute_task_solution_capability.cpp
)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES capabilities_plugin_description.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)