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Qt6 compile fix #3493

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3f99cc4
fix compile with qt6
mosfet80 Jun 4, 2025
ccbab53
Update CMakeLists.txt
mosfet80 Jan 29, 2026
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17 changes: 12 additions & 5 deletions moveit_core/constraint_samplers/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,16 +9,24 @@ target_include_directories(
$<INSTALL_INTERFACE:include/moveit_core>)
set_target_properties(moveit_constraint_samplers
PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(moveit_constraint_samplers urdf urdfdom
urdfdom_headers visualization_msgs)

target_link_libraries(
moveit_constraint_samplers
PRIVATE
moveit_robot_trajectory
moveit_robot_state
moveit_kinematic_constraints
moveit_kinematics_base
moveit_planning_scene
moveit_utils)
moveit_utils
PUBLIC
${visualization_msgs_TARGETS}
urdf::urdf
urdfdom::urdfdom_model
urdfdom::urdfdom_sensor
urdfdom::urdfdom_world
urdfdom_headers::urdfdom_headers
)

install(DIRECTORY include/ DESTINATION include/moveit_core)

Expand All @@ -43,7 +51,6 @@ if(BUILD_TESTING)
test/pr2_arm_kinematics_plugin.cpp test/pr2_arm_ik.cpp)
target_include_directories(test_constraint_samplers
PUBLIC ${geometry_msgs_INCLUDE_DIRS})
ament_target_dependencies(test_constraint_samplers kdl_parser)
target_link_libraries(test_constraint_samplers moveit_test_utils moveit_utils
moveit_constraint_samplers)
moveit_constraint_samplers moveit_planning_scene kdl_parser::kdl_parser)
endif()
26 changes: 15 additions & 11 deletions moveit_core/transforms/CMakeLists.txt
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Expand Up @@ -3,24 +3,28 @@ target_include_directories(
moveit_transforms
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/moveit_core>)
target_link_libraries(moveit_transforms moveit_macros moveit_utils)

set_target_properties(moveit_transforms PROPERTIES VERSION
"${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(
moveit_transforms
geometric_shapes
tf2_eigen
rclcpp
rmw_implementation
urdfdom
urdfdom_headers
Boost)
target_link_libraries(moveit_transforms
PRIVATE
moveit_macros moveit_utils
PUBLIC
geometric_shapes::geometric_shapes
rclcpp::rclcpp
rmw_implementation::rmw_implementation
tf2_eigen::tf2_eigen
urdfdom::urdfdom_model
urdfdom::urdfdom_sensor
urdfdom::urdfdom_world
urdfdom_headers::urdfdom_headers
)

install(DIRECTORY include/ DESTINATION include/moveit_core)

# Unit tests
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(test_transforms test/test_transforms.cpp)
target_link_libraries(test_transforms moveit_transforms)
target_link_libraries(test_transforms moveit_transforms moveit_macros)
endif()
25 changes: 9 additions & 16 deletions moveit_core/utils/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,14 @@ add_library(moveit_utils SHARED src/lexical_casts.cpp src/message_checks.cpp
target_include_directories(
moveit_utils PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/moveit_core>)
ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp fmt)
target_link_libraries(moveit_utils rsl::rsl)

set_target_properties(moveit_utils PROPERTIES VERSION
"${${PROJECT_NAME}_VERSION}")
target_link_libraries(moveit_utils
${moveit_msgs_TARGETS}
ament_index_cpp::ament_index_cpp
pluginlib::pluginlib
rsl::rsl)

install(DIRECTORY include/ DESTINATION include/moveit_core)

Expand All @@ -16,22 +20,11 @@ target_include_directories(
moveit_test_utils
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/moveit_core>)
target_link_libraries(moveit_test_utils moveit_robot_model
moveit_kinematics_base rsl::rsl)
ament_target_dependencies(
moveit_test_utils
ament_index_cpp
Boost
geometry_msgs
urdf
pluginlib
srdfdom
urdfdom
urdfdom_headers
rclcpp
fmt)

set_target_properties(moveit_test_utils PROPERTIES VERSION
"${${PROJECT_NAME}_VERSION}")
target_link_libraries(moveit_test_utils moveit_robot_model
moveit_kinematics_base rsl::rsl)

if(BUILD_TESTING)
add_subdirectory(test)
Expand Down
1 change: 1 addition & 0 deletions moveit_kinematics/CMakeLists.txt
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Expand Up @@ -14,6 +14,7 @@ find_package(kdl_parser REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_occupancy_map_monitor REQUIRED)
find_package(orocos_kdl REQUIRED)
find_package(pluginlib REQUIRED)
find_package(random_numbers REQUIRED)
Expand Down
41 changes: 35 additions & 6 deletions moveit_planners/chomp/chomp_interface/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,13 +22,43 @@ add_library(moveit_chomp_interface SHARED src/chomp_interface.cpp
src/chomp_planning_context.cpp)
set_target_properties(moveit_chomp_interface
PROPERTIES VERSION "${moveit_planners_chomp_VERSION}")
ament_target_dependencies(moveit_chomp_interface
${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(moveit_chomp_interface chomp_motion_planner::chomp_motion_planner)


add_library(moveit_chomp_planner_plugin SHARED src/chomp_plugin.cpp)
ament_target_dependencies(moveit_chomp_planner_plugin
${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(moveit_chomp_planner_plugin moveit_chomp_interface)

target_link_libraries(moveit_chomp_planner_plugin
PRIVATE
moveit_chomp_interface
PUBLIC
chomp_motion_planner::chomp_motion_planner
moveit_core::moveit_collision_detection
moveit_core::moveit_collision_detection_bullet
moveit_core::moveit_collision_detection_fcl
moveit_core::moveit_collision_distance_field
moveit_core::moveit_constraint_samplers
moveit_core::moveit_distance_field
moveit_core::moveit_dynamics_solver
moveit_core::moveit_exceptions
moveit_core::moveit_kinematic_constraints
moveit_core::moveit_kinematics_base
moveit_core::moveit_kinematics_metrics
moveit_core::moveit_macros
moveit_core::moveit_planning_interface
moveit_core::moveit_planning_scene
moveit_core::moveit_robot_model
moveit_core::moveit_robot_state
moveit_core::moveit_robot_trajectory
moveit_core::moveit_smoothing_base
moveit_core::moveit_test_utils
moveit_core::moveit_trajectory_processing
moveit_core::moveit_transforms
moveit_core::moveit_utils
pluginlib::pluginlib
rclcpp::rclcpp
rsl::rsl
)

install(
TARGETS moveit_chomp_interface moveit_chomp_planner_plugin
Expand All @@ -38,7 +68,6 @@ install(
RUNTIME DESTINATION bin)

ament_export_targets(moveit_planners_chompTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})

pluginlib_export_plugin_description_file(moveit_core
chomp_interface_plugin_description.xml)
Expand Down
33 changes: 29 additions & 4 deletions moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
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Expand Up @@ -23,8 +23,34 @@ add_library(
src/chomp_optimizer.cpp src/chomp_planner.cpp)
set_target_properties(chomp_motion_planner
PROPERTIES VERSION "${chomp_motion_planner_VERSION}")
ament_target_dependencies(chomp_motion_planner ${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(chomp_motion_planner PUBLIC
${trajectory_msgs_TARGETS}
${visualization_msgs_TARGETS}
moveit_core::moveit_collision_detection
moveit_core::moveit_collision_detection_bullet
moveit_core::moveit_collision_detection_fcl
moveit_core::moveit_collision_distance_field
moveit_core::moveit_constraint_samplers
moveit_core::moveit_distance_field
moveit_core::moveit_dynamics_solver
moveit_core::moveit_exceptions
moveit_core::moveit_kinematic_constraints
moveit_core::moveit_kinematics_base
moveit_core::moveit_kinematics_metrics
moveit_core::moveit_macros
moveit_core::moveit_planning_interface
moveit_core::moveit_planning_scene
moveit_core::moveit_robot_model
moveit_core::moveit_robot_state
moveit_core::moveit_robot_trajectory
moveit_core::moveit_smoothing_base
moveit_core::moveit_test_utils
moveit_core::moveit_trajectory_processing
moveit_core::moveit_transforms
moveit_core::moveit_utils
rclcpp::rclcpp
rsl::rsl
)
install(
TARGETS chomp_motion_planner
EXPORT chomp_motion_plannerTargets
Expand All @@ -35,7 +61,6 @@ install(
DESTINATION include/chomp_motion_planner)
install(DIRECTORY include/ DESTINATION include/chomp_motion_planner)

ament_export_targets(chomp_motion_plannerTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS})
ament_export_targets(chomp_motion_plannerTargets)

ament_package()
1 change: 1 addition & 0 deletions moveit_planners/ompl/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ find_package(
find_package(moveit_core REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_occupancy_map_monitor REQUIRED)
find_package(rclcpp REQUIRED)
find_package(pluginlib REQUIRED)
find_package(tf2_eigen REQUIRED)
Expand Down
40 changes: 18 additions & 22 deletions moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -67,65 +67,62 @@ add_library(
joint_limits_common SHARED
src/joint_limits_aggregator.cpp src/joint_limits_container.cpp
src/joint_limits_validator.cpp src/limits_container.cpp)
target_link_libraries(joint_limits_common cartesian_limits_parameters)
ament_target_dependencies(joint_limits_common ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(joint_limits_common cartesian_limits_parameters
moveit_ros_planning::moveit_robot_model_loader
moveit_ros_move_group::moveit_move_group_capabilities_base)

add_library(planning_context_loader_base SHARED src/planning_context_loader.cpp)
target_link_libraries(planning_context_loader_base cartesian_limits_parameters
joint_limits_common)
ament_target_dependencies(planning_context_loader_base
${THIS_PACKAGE_INCLUDE_DEPENDS})
joint_limits_common
tf2_kdl::tf2_kdl)

add_library(
trajectory_generation_common SHARED
src/trajectory_functions.cpp src/trajectory_generator.cpp
src/trajectory_blender_transition_window.cpp)
target_link_libraries(trajectory_generation_common cartesian_limits_parameters
joint_limits_common)
ament_target_dependencies(trajectory_generation_common
${THIS_PACKAGE_INCLUDE_DEPENDS})
joint_limits_common
tf2_eigen_kdl::tf2_eigen_kdl
tf2_kdl::tf2_kdl)


add_library(command_list_manager SHARED src/command_list_manager.cpp
src/plan_components_builder.cpp)
target_link_libraries(command_list_manager trajectory_generation_common
joint_limits_common)
ament_target_dependencies(command_list_manager ${THIS_PACKAGE_INCLUDE_DEPENDS})

# ##############################################################################
# Plugins ##
# ##############################################################################

add_library(pilz_industrial_motion_planner SHARED
src/pilz_industrial_motion_planner.cpp)
ament_target_dependencies(pilz_industrial_motion_planner
${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(pilz_industrial_motion_planner
planning_context_loader_base joint_limits_common)
planning_context_loader_base joint_limits_common
moveit_core::moveit_robot_model)

add_library(
planning_context_loader_ptp SHARED
src/planning_context_loader_ptp.cpp src/trajectory_generator_ptp.cpp
src/velocity_profile_atrap.cpp)
ament_target_dependencies(planning_context_loader_ptp
${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(planning_context_loader_ptp planning_context_loader_base
joint_limits_common trajectory_generation_common)

add_library(
planning_context_loader_lin SHARED
src/planning_context_loader_lin.cpp src/trajectory_generator_lin.cpp
src/velocity_profile_atrap.cpp)
ament_target_dependencies(planning_context_loader_lin
${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(planning_context_loader_lin planning_context_loader_base
joint_limits_common trajectory_generation_common)

add_library(
planning_context_loader_circ SHARED
src/planning_context_loader_circ.cpp src/trajectory_generator_circ.cpp
src/path_circle_generator.cpp)
ament_target_dependencies(planning_context_loader_circ
${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(planning_context_loader_circ planning_context_loader_base
joint_limits_common trajectory_generation_common)

Expand All @@ -134,15 +131,14 @@ add_library(
src/planning_context_loader_polyline.cpp
src/trajectory_generator_polyline.cpp src/velocity_profile_atrap.cpp
src/path_polyline_generator.cpp)
ament_target_dependencies(planning_context_loader_polyline
${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(
planning_context_loader_polyline planning_context_loader_base
joint_limits_common trajectory_generation_common)

add_library(sequence_capability SHARED src/move_group_sequence_action.cpp
src/move_group_sequence_service.cpp)
ament_target_dependencies(sequence_capability ${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(sequence_capability joint_limits_common
command_list_manager trajectory_generation_common)

Expand Down Expand Up @@ -183,7 +179,7 @@ ament_export_include_directories(include/pilz_industrial_motion_planner)
ament_export_targets(pilz_industrial_motion_plannerTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor)

if(BUILD_TESTING)
if(0)#BUILD_TESTING)
# Include Tests
add_subdirectory(test)
endif()
Expand Down
8 changes: 4 additions & 4 deletions moveit_planners/pilz_industrial_motion_planner/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,17 +5,17 @@ find_package(moveit_resources_prbt_support REQUIRED)
find_package(moveit_resources_prbt_moveit_config REQUIRED)
find_package(Boost REQUIRED thread)

find_package(${PROJECT_NAME}_testutils REQUIRED)
#find_package(${PROJECT_NAME}_testutils REQUIRED)

# Add test directory as include directory
include_directories(${CMAKE_CURRENT_SOURCE_DIR})

# pilz_industrial_motion_testhelpers
add_library(${PROJECT_NAME}_test_utils test_utils.cpp)
ament_target_dependencies(${PROJECT_NAME}_test_utils
${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(${PROJECT_NAME}_test_utils joint_limits_common
trajectory_generation_common)
trajectory_generation_common
tf2_kdl::tf2_kdl)

# Unit tests
add_subdirectory(unit_tests)
Expand Down
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