diff --git a/.kdev4/moveit2.kdev4 b/.kdev4/moveit2.kdev4 new file mode 100644 index 0000000000..5a2bba305a --- /dev/null +++ b/.kdev4/moveit2.kdev4 @@ -0,0 +1,5 @@ +[Buildset] +BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x0e\x00m\x00o\x00v\x00e\x00i\x00t\x002) + +[Project] +VersionControlSupport=kdevgit diff --git a/moveit2.kdev4 b/moveit2.kdev4 new file mode 100644 index 0000000000..6c00126676 --- /dev/null +++ b/moveit2.kdev4 @@ -0,0 +1,4 @@ +[Project] +CreatedFrom= +Manager=KDevCustomBuildSystem +Name=moveit2 diff --git a/moveit_core/transforms/CMakeLists.txt b/moveit_core/transforms/CMakeLists.txt index 5880e5795a..bbc350471a 100644 --- a/moveit_core/transforms/CMakeLists.txt +++ b/moveit_core/transforms/CMakeLists.txt @@ -3,18 +3,22 @@ target_include_directories( moveit_transforms PUBLIC $ $) -target_link_libraries(moveit_transforms moveit_macros moveit_utils) + set_target_properties(moveit_transforms PROPERTIES VERSION "${${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) @@ -22,5 +26,5 @@ install(DIRECTORY include/ DESTINATION include/moveit_core) 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() diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt index ca44183fa0..1a53a987e9 100644 --- a/moveit_core/utils/CMakeLists.txt +++ b/moveit_core/utils/CMakeLists.txt @@ -3,10 +3,14 @@ add_library(moveit_utils SHARED src/lexical_casts.cpp src/message_checks.cpp target_include_directories( moveit_utils PUBLIC $ $) -ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp fmt) -target_link_libraries(moveit_utils rsl::rsl) + set_target_properties(moveit_utils PROPERTIES VERSION "${${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) @@ -16,22 +20,11 @@ target_include_directories( moveit_test_utils PUBLIC $ $) -target_link_libraries(moveit_test_utils moveit_robot_model - moveit_kinematics_base rsl::rsl) -ament_target_dependencies( - moveit_test_utils - ament_index_cpp - Boost - geometry_msgs - urdf - pluginlib - srdfdom - urdfdom - urdfdom_headers - rclcpp - fmt) + set_target_properties(moveit_test_utils PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") +target_link_libraries(moveit_test_utils moveit_robot_model + moveit_kinematics_base rsl::rsl) if(BUILD_TESTING) add_subdirectory(test) diff --git a/moveit_planners/chomp/chomp_interface/CMakeLists.txt b/moveit_planners/chomp/chomp_interface/CMakeLists.txt index 3a2c114617..01f37c6ca1 100644 --- a/moveit_planners/chomp/chomp_interface/CMakeLists.txt +++ b/moveit_planners/chomp/chomp_interface/CMakeLists.txt @@ -26,9 +26,38 @@ ament_target_dependencies(moveit_chomp_interface ${THIS_PACKAGE_INCLUDE_DEPENDS}) add_library(moveit_chomp_planner_plugin SHARED src/chomp_plugin.cpp) -ament_target_dependencies(moveit_chomp_planner_plugin - ${THIS_PACKAGE_INCLUDE_DEPENDS}) -target_link_libraries(moveit_chomp_planner_plugin moveit_chomp_interface) + +target_link_libraries(moveit_chomp_planner_plugin + PRIVATE + moveit_chomp_interface + PUBLIC + chomp_motion_planner::chomp_motion_planner + moveit_core::moveit_collision_detection + moveit_core::moveit_collision_detection_bullet + moveit_core::moveit_collision_detection_fcl + moveit_core::moveit_collision_distance_field + moveit_core::moveit_constraint_samplers + moveit_core::moveit_distance_field + moveit_core::moveit_dynamics_solver + moveit_core::moveit_exceptions + moveit_core::moveit_kinematic_constraints + moveit_core::moveit_kinematics_base + moveit_core::moveit_kinematics_metrics + moveit_core::moveit_macros + moveit_core::moveit_planning_interface + moveit_core::moveit_planning_scene + moveit_core::moveit_robot_model + moveit_core::moveit_robot_state + moveit_core::moveit_robot_trajectory + moveit_core::moveit_smoothing_base + moveit_core::moveit_test_utils + moveit_core::moveit_trajectory_processing + moveit_core::moveit_transforms + moveit_core::moveit_utils + pluginlib::pluginlib + rclcpp::rclcpp + rsl::rsl + ) install( TARGETS moveit_chomp_interface moveit_chomp_planner_plugin diff --git a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt index b6407f0e3f..f4cc0c4cac 100644 --- a/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt +++ b/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt @@ -23,8 +23,34 @@ add_library( src/chomp_optimizer.cpp src/chomp_planner.cpp) set_target_properties(chomp_motion_planner PROPERTIES VERSION "${chomp_motion_planner_VERSION}") -ament_target_dependencies(chomp_motion_planner ${THIS_PACKAGE_INCLUDE_DEPENDS}) - +target_link_libraries(chomp_motion_planner PUBLIC + ${trajectory_msgs_TARGETS} + ${visualization_msgs_TARGETS} + moveit_core::moveit_collision_detection + moveit_core::moveit_collision_detection_bullet + moveit_core::moveit_collision_detection_fcl + moveit_core::moveit_collision_distance_field + moveit_core::moveit_constraint_samplers + moveit_core::moveit_distance_field + moveit_core::moveit_dynamics_solver + moveit_core::moveit_exceptions + moveit_core::moveit_kinematic_constraints + moveit_core::moveit_kinematics_base + moveit_core::moveit_kinematics_metrics + moveit_core::moveit_macros + moveit_core::moveit_planning_interface + moveit_core::moveit_planning_scene + moveit_core::moveit_robot_model + moveit_core::moveit_robot_state + moveit_core::moveit_robot_trajectory + moveit_core::moveit_smoothing_base + moveit_core::moveit_test_utils + moveit_core::moveit_trajectory_processing + moveit_core::moveit_transforms + moveit_core::moveit_utils + rclcpp::rclcpp + rsl::rsl + ) install( TARGETS chomp_motion_planner EXPORT chomp_motion_plannerTargets @@ -36,6 +62,5 @@ install( install(DIRECTORY include/ DESTINATION include/chomp_motion_planner) ament_export_targets(chomp_motion_plannerTargets HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS}) ament_package() diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt index 1026df76f3..6f638f375d 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt @@ -29,15 +29,34 @@ add_library( src/robotconfiguration.cpp src/sequence.cpp src/xml_testdata_loader.cpp) # Specify libraries to link a library or executable target against -ament_target_dependencies( - pilz_industrial_motion_planner_testutils - Boost - Eigen3 - eigen3_cmake_module - rclcpp - moveit_core - moveit_msgs - tf2_eigen) +target_link_libraries(pilz_industrial_motion_planner_testutils PUBLIC + ${moveit_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 + tf2_eigen::tf2_eigen + ) + # ############################################################################## # Install ## @@ -58,5 +77,3 @@ install(DIRECTORY include/ ament_export_targets(pilz_industrial_motion_planner_testutilsTargets HAS_LIBRARY_TARGET) ament_export_dependencies(rclcpp moveit_core moveit_msgs tf2_eigen) - -ament_package() diff --git a/moveit_planners/stomp/CMakeLists.txt b/moveit_planners/stomp/CMakeLists.txt index 955f227d87..e73eb556c7 100644 --- a/moveit_planners/stomp/CMakeLists.txt +++ b/moveit_planners/stomp/CMakeLists.txt @@ -22,10 +22,36 @@ include_directories(include) # Planner Plugin add_library(stomp_moveit_plugin SHARED src/stomp_moveit_planner_plugin.cpp src/stomp_moveit_planning_context.cpp) -ament_target_dependencies(stomp_moveit_plugin moveit_core std_msgs tf2_eigen - visualization_msgs) -target_link_libraries(stomp_moveit_plugin stomp::stomp stomp_moveit_parameters - rsl::rsl) +target_link_libraries(stomp_moveit_plugin PUBLIC + ${std_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 + tf2_eigen::tf2_eigen + rsl::rsl + stomp::stomp + stomp_moveit_parameters + ) pluginlib_export_plugin_description_file(moveit_core stomp_moveit_plugin_description.xml) @@ -46,4 +72,3 @@ if(BUILD_TESTING) add_subdirectory(test) endif() -ament_package() diff --git a/moveit_planners/stomp/test/CMakeLists.txt b/moveit_planners/stomp/test/CMakeLists.txt index 3f83ea5a76..92feb460a3 100644 --- a/moveit_planners/stomp/test/CMakeLists.txt +++ b/moveit_planners/stomp/test/CMakeLists.txt @@ -1,8 +1,8 @@ find_package(ament_cmake_gtest REQUIRED) ament_add_gtest(test_noise_generator test_noise_generator.cpp) -ament_target_dependencies(test_noise_generator tf2_eigen) -target_link_libraries(test_noise_generator stomp::stomp rsl::rsl) + +target_link_libraries(test_noise_generator stomp::stomp rsl::rsl moveit_core::moveit_planning_scene) ament_add_gtest(test_cost_functions test_cost_functions.cpp) -ament_target_dependencies(test_cost_functions moveit_core) -target_link_libraries(test_cost_functions stomp::stomp rsl::rsl) + +target_link_libraries(test_cost_functions stomp::stomp rsl::rsl moveit_core::moveit_planning_scene) diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt index cc451f3d65..4d93378efc 100644 --- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt +++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt @@ -43,18 +43,38 @@ if(NOT WIN32) target_compile_options(prbt_manipulator_moveit_ikfast_plugin PRIVATE -Wno-unused-variable) endif() -ament_target_dependencies( - prbt_manipulator_moveit_ikfast_plugin - moveit_core - pluginlib - rclcpp - tf2_kdl - tf2_eigen - tf2_eigen_kdl - tf2_geometry_msgs) -target_link_libraries(prbt_manipulator_moveit_ikfast_plugin - prbt_ikfast_kinematics_parameters) +target_link_libraries(prbt_manipulator_moveit_ikfast_plugin PUBLIC + prbt_ikfast_kinematics_parameters + 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 + tf2_eigen::tf2_eigen + tf2_eigen_kdl::tf2_eigen_kdl + tf2_geometry_msgs::tf2_geometry_msgs + tf2_kdl::tf2_kdl + ) pluginlib_export_plugin_description_file( moveit_core prbt_manipulator_moveit_ikfast_plugin_description.xml) @@ -74,4 +94,3 @@ ament_export_targets(moveit_resources_prbt_ikfast_manipulator_pluginTargets ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} generate_parameter_library) -ament_package() diff --git a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt index 433f968200..9a8d13d2e9 100644 --- a/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt +++ b/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt @@ -15,8 +15,9 @@ endforeach() find_package(moveit_common REQUIRED) moveit_package() -# Finds Boost Components -include(ConfigExtras.cmake) + +include_directories(include) + add_library(moveit_ros_control_interface_plugin SHARED src/controller_manager_plugin.cpp) @@ -24,8 +25,35 @@ set_target_properties( moveit_ros_control_interface_plugin PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}") target_include_directories(moveit_ros_control_interface_plugin PRIVATE include) -ament_target_dependencies(moveit_ros_control_interface_plugin - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(moveit_ros_control_interface_plugin PUBLIC + ${controller_manager_msgs_TARGETS} + ${trajectory_msgs_TARGETS} + moveit_core::moveit_collision_detection + moveit_core::moveit_collision_detection_bullet + moveit_core::moveit_collision_detection_fcl + moveit_core::moveit_collision_distance_field + moveit_core::moveit_constraint_samplers + moveit_core::moveit_distance_field + moveit_core::moveit_dynamics_solver + moveit_core::moveit_exceptions + moveit_core::moveit_kinematic_constraints + moveit_core::moveit_kinematics_base + moveit_core::moveit_kinematics_metrics + moveit_core::moveit_macros + moveit_core::moveit_planning_interface + moveit_core::moveit_planning_scene + moveit_core::moveit_robot_model + moveit_core::moveit_robot_state + moveit_core::moveit_robot_trajectory + moveit_core::moveit_smoothing_base + moveit_core::moveit_test_utils + moveit_core::moveit_trajectory_processing + moveit_core::moveit_transforms + moveit_core::moveit_utils + moveit_simple_controller_manager::moveit_simple_controller_manager + pluginlib::pluginlib + rclcpp_action::rclcpp_action + ) add_library(moveit_ros_control_interface_trajectory_plugin SHARED src/joint_trajectory_controller_plugin.cpp) @@ -100,6 +128,6 @@ pluginlib_export_plugin_description_file( moveit_ros_control_interface moveit_ros_control_interface_plugins.xml) ament_export_targets(moveit_ros_control_interfaceTargets HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) -ament_package(CONFIG_EXTRAS ConfigExtras.cmake) +ament_package(CONFIG_EXTRAS) diff --git a/moveit_plugins/moveit_ros_control_interface/ConfigExtras.cmake b/moveit_plugins/moveit_ros_control_interface/ConfigExtras.cmake deleted file mode 100644 index 01c37605f8..0000000000 --- a/moveit_plugins/moveit_ros_control_interface/ConfigExtras.cmake +++ /dev/null @@ -1,3 +0,0 @@ -# Extras module needed for dependencies to find boost components - -find_package(Boost REQUIRED COMPONENTS system thread) diff --git a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt index 9905ae3238..e0c94110f2 100644 --- a/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt +++ b/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt @@ -29,8 +29,34 @@ set_target_properties( moveit_simple_controller_manager PROPERTIES VERSION "${moveit_simple_controller_manager_VERSION}") -ament_target_dependencies(moveit_simple_controller_manager - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(moveit_simple_controller_manager PUBLIC + ${control_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 + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_action::rclcpp_action + ) install( TARGETS moveit_simple_controller_manager diff --git a/moveit_ros/benchmarks/CMakeLists.txt b/moveit_ros/benchmarks/CMakeLists.txt index 58538a70b9..3fc4a16244 100644 --- a/moveit_ros/benchmarks/CMakeLists.txt +++ b/moveit_ros/benchmarks/CMakeLists.txt @@ -12,21 +12,12 @@ find_package(moveit_core REQUIRED) find_package(moveit_ros_planning REQUIRED) find_package(moveit_ros_warehouse REQUIRED) find_package(pluginlib REQUIRED) - +find_package(warehouse_ros REQUIRED) # Finds Boost Components include(ConfigExtras.cmake) include_directories(include) -set(THIS_PACKAGE_INCLUDE_DEPENDS - rclcpp - Boost - tf2_eigen - moveit_core - moveit_ros_planning - moveit_ros_warehouse - pluginlib) - add_library(moveit_ros_benchmarks SHARED src/BenchmarkOptions.cpp src/BenchmarkExecutor.cpp) set_target_properties(moveit_ros_benchmarks @@ -34,12 +25,98 @@ set_target_properties(moveit_ros_benchmarks if(WIN32) set(EXTRA_LIB ws2_32.lib) endif() -ament_target_dependencies(moveit_ros_benchmarks ${THIS_PACKAGE_INCLUDE_DEPENDS}) -target_link_libraries(moveit_ros_benchmarks ${EXTRA_LIB}) +target_link_libraries(moveit_ros_benchmarks PUBLIC + 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 + moveit_ros_planning::default_request_adapter_parameters + moveit_ros_planning::default_response_adapter_parameters + moveit_ros_planning::kinematics_parameters + moveit_ros_planning::moveit_collision_plugin_loader + moveit_ros_planning::moveit_constraint_sampler_manager_loader + moveit_ros_planning::moveit_cpp + moveit_ros_planning::moveit_kinematics_plugin_loader + moveit_ros_planning::moveit_plan_execution + moveit_ros_planning::moveit_planning_pipeline + moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + moveit_ros_planning::moveit_rdf_loader + moveit_ros_planning::moveit_robot_model_loader + moveit_ros_planning::moveit_trajectory_execution_manager + moveit_ros_planning::planning_pipeline_parameters + moveit_ros_planning::srdf_publisher_node + moveit_ros_warehouse::moveit_warehouse + pluginlib::pluginlib + rclcpp::rclcpp + tf2_eigen::tf2_eigen + ) add_executable(moveit_run_benchmark src/RunBenchmark.cpp) -ament_target_dependencies(moveit_run_benchmark ${THIS_PACKAGE_INCLUDE_DEPENDS}) -target_link_libraries(moveit_run_benchmark moveit_ros_benchmarks) + +target_link_libraries(moveit_run_benchmark PUBLIC + moveit_ros_benchmarks + 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 + moveit_ros_planning::default_request_adapter_parameters + moveit_ros_planning::default_response_adapter_parameters + moveit_ros_planning::kinematics_parameters + moveit_ros_planning::moveit_collision_plugin_loader + moveit_ros_planning::moveit_constraint_sampler_manager_loader + moveit_ros_planning::moveit_cpp + moveit_ros_planning::moveit_kinematics_plugin_loader + moveit_ros_planning::moveit_plan_execution + moveit_ros_planning::moveit_planning_pipeline + moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + moveit_ros_planning::moveit_rdf_loader + moveit_ros_planning::moveit_robot_model_loader + moveit_ros_planning::moveit_trajectory_execution_manager + moveit_ros_planning::planning_pipeline_parameters + moveit_ros_planning::srdf_publisher_node + moveit_ros_warehouse::moveit_warehouse + pluginlib::pluginlib + rclcpp::rclcpp + tf2_eigen::tf2_eigen + ) install( TARGETS moveit_ros_benchmarks @@ -51,7 +128,6 @@ install( DESTINATION include/moveit_ros_benchmarks) ament_export_targets(moveit_ros_benchmarksTargets HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) install(TARGETS moveit_run_benchmark DESTINATION lib/moveit_ros_benchmarks) diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index 86bca8785d..d7069ab4e5 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -101,14 +101,6 @@ install(PROGRAMS scripts/load_map scripts/save_map pluginlib_export_plugin_description_file( moveit_ros_move_group default_capabilities_plugin_description.xml) -if(BUILD_TESTING) - # TODO(henningkayser): enable rostests find_package(rostest REQUIRED) # - # rostest under development in ROS2 - # https://github.com/moveit/moveit2/issues/23 this test is flaky - # add_rostest(test/test_cancel_before_plan_execution.test) - # add_rostest(test/test_check_state_validity_in_empty_scene.test) -endif() - ament_export_targets(moveit_ros_move_groupTargets HAS_LIBRARY_TARGET) ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package(CONFIG_EXTRAS ConfigExtras.cmake) diff --git a/moveit_ros/moveit_ros/CMakeLists.txt b/moveit_ros/moveit_ros/CMakeLists.txt index 2855e2a392..9b2db1aeac 100644 --- a/moveit_ros/moveit_ros/CMakeLists.txt +++ b/moveit_ros/moveit_ros/CMakeLists.txt @@ -1,5 +1,3 @@ cmake_minimum_required(VERSION 3.22) project(moveit_ros) find_package(ament_cmake REQUIRED) - -ament_package() diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt index 6ec080d195..cc6e66a3ef 100644 --- a/moveit_ros/moveit_servo/CMakeLists.txt +++ b/moveit_ros/moveit_servo/CMakeLists.txt @@ -45,14 +45,18 @@ add_library( src/utils/common.cpp src/utils/command.cpp) set_target_properties(moveit_servo_lib_cpp PROPERTIES VERSION "${moveit_servo_VERSION}") -target_link_libraries(moveit_servo_lib_cpp moveit_servo_lib_parameters) -ament_target_dependencies(moveit_servo_lib_cpp ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(moveit_servo_lib_cpp moveit_servo_lib_parameters + tf2_eigen::tf2_eigen + moveit_ros_planning::moveit_planning_scene_monitor + realtime_tools::thread_priority) add_library(moveit_servo_lib_ros SHARED src/servo_node.cpp) set_target_properties(moveit_servo_lib_ros PROPERTIES VERSION - "${moveit_servo_VERSION}") -target_link_libraries(moveit_servo_lib_ros moveit_servo_lib_cpp) -ament_target_dependencies(moveit_servo_lib_ros ${THIS_PACKAGE_INCLUDE_DEPENDS}) + "${moveit_servo_VERSION}") +target_link_libraries(moveit_servo_lib_ros moveit_servo_lib_cpp + ${control_msgs_TARGETS} + ${std_srvs_TARGETS} + rclcpp_components::component_manager) # ############################################################################## # Components ## @@ -68,23 +72,26 @@ rclcpp_components_register_node(moveit_servo_lib_ros PLUGIN # Executable node for the joint jog demo add_executable(demo_joint_jog demos/cpp_interface/demo_joint_jog.cpp) target_link_libraries(demo_joint_jog moveit_servo_lib_cpp) -ament_target_dependencies(demo_joint_jog ${THIS_PACKAGE_INCLUDE_DEPENDS}) # Executable node for the twist demo add_executable(demo_twist demos/cpp_interface/demo_twist.cpp) target_link_libraries(demo_twist moveit_servo_lib_cpp) -ament_target_dependencies(demo_twist ${THIS_PACKAGE_INCLUDE_DEPENDS}) # Executable node for the pose demo add_executable(demo_pose demos/cpp_interface/demo_pose.cpp) target_link_libraries(demo_pose moveit_servo_lib_cpp) -ament_target_dependencies(demo_pose ${THIS_PACKAGE_INCLUDE_DEPENDS}) # Keyboard control example for servo add_executable(servo_keyboard_input demos/servo_keyboard_input.cpp) -target_include_directories(servo_keyboard_input PUBLIC include) -ament_target_dependencies(servo_keyboard_input ${THIS_PACKAGE_INCLUDE_DEPENDS}) + +# +target_link_libraries(servo_keyboard_input PUBLIC + ${rosidl_generator_cpp_TARGETS} + ${control_msgs_TARGETS} + ${moveit_msgs_TARGETS} + rclcpp::rclcpp + ) # ############################################################################## # Install ## # ############################################################################## @@ -112,7 +119,6 @@ install(DIRECTORY launch DESTINATION share/moveit_servo) install(DIRECTORY config DESTINATION share/moveit_servo) ament_export_targets(moveit_servoTargets HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) if(BUILD_TESTING) @@ -120,29 +126,27 @@ if(BUILD_TESTING) find_package(ros_testing REQUIRED) ament_add_gtest_executable(moveit_servo_utils_test tests/test_utils.cpp) - target_link_libraries(moveit_servo_utils_test moveit_servo_lib_cpp) - ament_target_dependencies(moveit_servo_utils_test - ${THIS_PACKAGE_INCLUDE_DEPENDS}) + target_link_libraries(moveit_servo_utils_test moveit_servo_lib_cpp ${geometry_msgs_INCLUDE_DIRS}) + add_ros_test(tests/launch/servo_utils.test.py TIMEOUT 30 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") ament_add_gtest_executable( moveit_servo_cpp_integration_test tests/test_integration.cpp tests/servo_cpp_fixture.hpp) - target_link_libraries(moveit_servo_cpp_integration_test moveit_servo_lib_cpp) - ament_target_dependencies(moveit_servo_cpp_integration_test - ${THIS_PACKAGE_INCLUDE_DEPENDS}) + target_link_libraries(moveit_servo_cpp_integration_test moveit_servo_lib_cpp ${moveit_msgs_TARGETS}) + add_ros_test(tests/launch/servo_cpp_integration.test.py TIMEOUT 30 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") ament_add_gtest_executable( moveit_servo_ros_integration_test tests/test_ros_integration.cpp tests/servo_ros_fixture.hpp) - ament_target_dependencies(moveit_servo_ros_integration_test - ${THIS_PACKAGE_INCLUDE_DEPENDS}) + target_link_libraries(moveit_servo_ros_integration_test moveit_servo_lib_cpp + ${moveit_msgs_TARGETS} + ${control_msgs_TARGETS}) + add_ros_test(tests/launch/servo_ros_integration.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") endif() - -ament_package() diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt index b8dd549bcb..3c430c57dc 100644 --- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt +++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt @@ -38,12 +38,65 @@ add_library( set_target_properties( moveit_ros_occupancy_map_monitor PROPERTIES VERSION "${moveit_ros_occupancy_map_monitor_VERSION}") -ament_target_dependencies(moveit_ros_occupancy_map_monitor - ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(moveit_ros_occupancy_map_monitor PUBLIC + ${moveit_msgs_TARGETS} + geometric_shapes::geometric_shapes + 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 + ) + add_executable(moveit_ros_occupancy_map_server src/occupancy_map_server.cpp) -ament_target_dependencies(moveit_ros_occupancy_map_server PUBLIC - ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(moveit_ros_occupancy_map_server PUBLIC + ${moveit_msgs_TARGETS} + geometric_shapes::geometric_shapes + moveit_core::moveit_collision_detection + moveit_core::moveit_collision_detection_bullet + moveit_core::moveit_collision_detection_fcl + moveit_core::moveit_collision_distance_field + moveit_core::moveit_constraint_samplers + moveit_core::moveit_distance_field + moveit_core::moveit_dynamics_solver + moveit_core::moveit_exceptions + moveit_core::moveit_kinematic_constraints + moveit_core::moveit_kinematics_base + moveit_core::moveit_kinematics_metrics + moveit_core::moveit_macros + moveit_core::moveit_planning_interface + moveit_core::moveit_planning_scene + moveit_core::moveit_robot_model + moveit_core::moveit_robot_state + moveit_core::moveit_robot_trajectory + moveit_core::moveit_smoothing_base + moveit_core::moveit_test_utils + moveit_core::moveit_trajectory_processing + moveit_core::moveit_transforms + moveit_core::moveit_utils + pluginlib::pluginlib + rclcpp::rclcpp + ) target_link_libraries(moveit_ros_occupancy_map_server PRIVATE moveit_ros_occupancy_map_monitor) diff --git a/moveit_ros/planning/CMakeLists.txt b/moveit_ros/planning/CMakeLists.txt index 9b4136d012..96d8f1e7eb 100644 --- a/moveit_ros/planning/CMakeLists.txt +++ b/moveit_ros/planning/CMakeLists.txt @@ -25,7 +25,17 @@ find_package(tf2_geometry_msgs REQUIRED) find_package(tf2_msgs REQUIRED) find_package(tf2_ros REQUIRED) find_package(urdf REQUIRED) -# find_package(moveit_ros_perception REQUIRED) +find_package(Bullet) + +if(Bullet_FOUND AND NOT TARGET Bullet::Bullet) + add_library(Bullet::Bullet INTERFACE IMPORTED) + set_target_properties( + Bullet::Bullet + PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS}" + INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES}" + ) +endif() # Finds Boost Components include(ConfigExtras.cmake) diff --git a/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt b/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt index 222a564a78..9ea37b454b 100644 --- a/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt +++ b/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt @@ -3,8 +3,7 @@ add_library(moveit_constraint_sampler_manager_loader SHARED set_target_properties(moveit_constraint_sampler_manager_loader PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -ament_target_dependencies(moveit_constraint_sampler_manager_loader moveit_core - rclcpp Boost pluginlib) + target_link_libraries(moveit_constraint_sampler_manager_loader moveit_rdf_loader) diff --git a/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt b/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt index cbc9d6d0ff..c4b96e08b4 100644 --- a/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt +++ b/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt @@ -2,8 +2,6 @@ add_library(moveit_kinematics_plugin_loader SHARED src/kinematics_plugin_loader.cpp) set_target_properties(moveit_kinematics_plugin_loader PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -ament_target_dependencies(moveit_kinematics_plugin_loader rclcpp urdf pluginlib - class_loader moveit_core) generate_parameter_library( kinematics_parameters # cmake target name for the parameter library diff --git a/moveit_ros/planning/moveit_cpp/CMakeLists.txt b/moveit_ros/planning/moveit_cpp/CMakeLists.txt index 59850df90f..b85b678b0e 100644 --- a/moveit_ros/planning/moveit_cpp/CMakeLists.txt +++ b/moveit_ros/planning/moveit_cpp/CMakeLists.txt @@ -1,7 +1,6 @@ add_library(moveit_cpp SHARED src/moveit_cpp.cpp src/planning_component.cpp) set_target_properties(moveit_cpp PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -ament_target_dependencies(moveit_cpp rclcpp moveit_core) target_link_libraries( moveit_cpp moveit_planning_scene_monitor moveit_planning_pipeline moveit_planning_pipeline_interfaces moveit_trajectory_execution_manager) diff --git a/moveit_ros/planning/plan_execution/CMakeLists.txt b/moveit_ros/planning/plan_execution/CMakeLists.txt index 95c11fd8e5..0a9f6fb25b 100644 --- a/moveit_ros/planning/plan_execution/CMakeLists.txt +++ b/moveit_ros/planning/plan_execution/CMakeLists.txt @@ -4,7 +4,5 @@ set_target_properties(moveit_plan_execution target_link_libraries( moveit_plan_execution moveit_planning_pipeline moveit_planning_scene_monitor moveit_trajectory_execution_manager) -ament_target_dependencies(moveit_plan_execution moveit_core rclcpp Boost - class_loader pluginlib) install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) diff --git a/moveit_ros/planning/planning_components_tools/CMakeLists.txt b/moveit_ros/planning/planning_components_tools/CMakeLists.txt index 0eb2bd3fab..25456b8a69 100644 --- a/moveit_ros/planning/planning_components_tools/CMakeLists.txt +++ b/moveit_ros/planning/planning_components_tools/CMakeLists.txt @@ -6,30 +6,24 @@ add_executable(moveit_print_planning_model_info src/print_planning_model_info.cpp) target_link_libraries(moveit_print_planning_model_info moveit_robot_model_loader) -ament_target_dependencies(moveit_print_planning_model_info rclcpp) add_executable(moveit_print_planning_scene_info src/print_planning_scene_info.cpp) target_link_libraries(moveit_print_planning_scene_info moveit_planning_scene_monitor) -ament_target_dependencies(moveit_print_planning_scene_info rclcpp) add_executable(moveit_display_random_state src/display_random_state.cpp) target_link_libraries(moveit_display_random_state moveit_planning_scene_monitor) -ament_target_dependencies(moveit_display_random_state rclcpp) add_executable(moveit_visualize_robot_collision_volume src/visualize_robot_collision_volume.cpp) target_link_libraries(moveit_visualize_robot_collision_volume PRIVATE moveit_planning_scene_monitor) -ament_target_dependencies(moveit_visualize_robot_collision_volume PUBLIC rclcpp - tf2_ros) add_executable(moveit_evaluate_collision_checking_speed src/evaluate_collision_checking_speed.cpp) target_link_libraries(moveit_evaluate_collision_checking_speed moveit_planning_scene_monitor) -ament_target_dependencies(moveit_evaluate_collision_checking_speed rclcpp Boost) if("${catkin_LIBRARIES}" MATCHES "moveit_collision_detection_bullet") add_executable(moveit_compare_collision_checking_speed_fcl_bullet @@ -43,7 +37,6 @@ add_executable(moveit_publish_scene_from_text src/publish_scene_from_text.cpp) target_link_libraries( moveit_publish_scene_from_text PRIVATE moveit_planning_scene_monitor moveit_robot_model_loader) -ament_target_dependencies(moveit_publish_scene_from_text PUBLIC rclcpp) install( TARGETS moveit_print_planning_model_info diff --git a/moveit_ros/planning/planning_pipeline/CMakeLists.txt b/moveit_ros/planning/planning_pipeline/CMakeLists.txt index d3e9c75790..0c729e02a3 100644 --- a/moveit_ros/planning/planning_pipeline/CMakeLists.txt +++ b/moveit_ros/planning/planning_pipeline/CMakeLists.txt @@ -33,9 +33,10 @@ if(BUILD_TESTING) target_include_directories( moveit_planning_pipeline_test PUBLIC $) - ament_target_dependencies(moveit_planning_pipeline_test moveit_core - moveit_msgs rclcpp pluginlib) - target_link_libraries(moveit_planning_pipeline_test moveit_planning_pipeline) + + target_link_libraries(moveit_planning_pipeline_test moveit_planning_pipeline + moveit_core::moveit_planning_interface moveit_core::moveit_planning_interface + moveit_core::moveit_planning_scene) install( TARGETS moveit_pipeline_test_plugins diff --git a/moveit_ros/planning/planning_pipeline_interfaces/CMakeLists.txt b/moveit_ros/planning/planning_pipeline_interfaces/CMakeLists.txt index a6ccb228ca..ff6b5990f2 100644 --- a/moveit_ros/planning/planning_pipeline_interfaces/CMakeLists.txt +++ b/moveit_ros/planning/planning_pipeline_interfaces/CMakeLists.txt @@ -13,9 +13,6 @@ set_target_properties(moveit_planning_pipeline_interfaces target_link_libraries(moveit_planning_pipeline_interfaces moveit_planning_pipeline) -ament_target_dependencies(moveit_planning_pipeline_interfaces moveit_core - moveit_msgs rclcpp) - install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) install( FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_pipeline_interfaces_export.h diff --git a/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt b/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt index 54cb62da1a..e20477c038 100644 --- a/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt +++ b/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt @@ -7,13 +7,35 @@ add_library( src/check_start_state_collision.cpp src/validate_workspace_bounds.cpp src/resolve_constraint_frames.cpp) -target_link_libraries(moveit_default_planning_request_adapter_plugins - default_request_adapter_parameters) + target_link_libraries(moveit_default_planning_request_adapter_plugins PUBLIC + moveit_core::moveit_collision_detection + moveit_core::moveit_collision_detection_bullet + moveit_core::moveit_collision_detection_fcl + moveit_core::moveit_collision_distance_field + moveit_core::moveit_constraint_samplers + moveit_core::moveit_distance_field + moveit_core::moveit_dynamics_solver + moveit_core::moveit_exceptions + moveit_core::moveit_kinematic_constraints + moveit_core::moveit_kinematics_base + moveit_core::moveit_kinematics_metrics + moveit_core::moveit_macros + moveit_core::moveit_planning_interface + moveit_core::moveit_planning_scene + moveit_core::moveit_robot_model + moveit_core::moveit_robot_state + moveit_core::moveit_robot_trajectory + moveit_core::moveit_smoothing_base + moveit_core::moveit_test_utils + moveit_core::moveit_trajectory_processing + moveit_core::moveit_transforms + moveit_core::moveit_utils + pluginlib::pluginlib + rclcpp::rclcpp + default_request_adapter_parameters) set_target_properties(moveit_default_planning_request_adapter_plugins PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -ament_target_dependencies(moveit_default_planning_request_adapter_plugins - moveit_core rclcpp pluginlib) if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) diff --git a/moveit_ros/planning/planning_response_adapter_plugins/CMakeLists.txt b/moveit_ros/planning/planning_response_adapter_plugins/CMakeLists.txt index 7471eefa34..dd2dbd29a2 100644 --- a/moveit_ros/planning/planning_response_adapter_plugins/CMakeLists.txt +++ b/moveit_ros/planning/planning_response_adapter_plugins/CMakeLists.txt @@ -6,9 +6,10 @@ add_library( src/add_ruckig_traj_smoothing.cpp src/add_time_optimal_parameterization.cpp src/display_motion_path.cpp src/validate_path.cpp) -target_link_libraries(moveit_default_planning_response_adapter_plugins + target_link_libraries(moveit_default_planning_response_adapter_plugins default_response_adapter_parameters) + set_target_properties(moveit_default_planning_response_adapter_plugins PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") ament_target_dependencies(moveit_default_planning_response_adapter_plugins diff --git a/moveit_ros/planning/rdf_loader/CMakeLists.txt b/moveit_ros/planning/rdf_loader/CMakeLists.txt index 70b73b8b59..150ab1afb1 100644 --- a/moveit_ros/planning/rdf_loader/CMakeLists.txt +++ b/moveit_ros/planning/rdf_loader/CMakeLists.txt @@ -2,8 +2,34 @@ add_library(moveit_rdf_loader SHARED src/rdf_loader.cpp src/synchronized_string_parameter.cpp) set_target_properties(moveit_rdf_loader PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -ament_target_dependencies(moveit_rdf_loader rclcpp ament_index_cpp urdf srdfdom - moveit_core) + target_link_libraries(moveit_rdf_loader PUBLIC + ament_index_cpp::ament_index_cpp + moveit_core::moveit_collision_detection + moveit_core::moveit_collision_detection_bullet + moveit_core::moveit_collision_detection_fcl + moveit_core::moveit_collision_distance_field + moveit_core::moveit_constraint_samplers + moveit_core::moveit_distance_field + moveit_core::moveit_dynamics_solver + moveit_core::moveit_exceptions + moveit_core::moveit_kinematic_constraints + moveit_core::moveit_kinematics_base + moveit_core::moveit_kinematics_metrics + moveit_core::moveit_macros + moveit_core::moveit_planning_interface + moveit_core::moveit_planning_scene + moveit_core::moveit_robot_model + moveit_core::moveit_robot_state + moveit_core::moveit_robot_trajectory + moveit_core::moveit_smoothing_base + moveit_core::moveit_test_utils + moveit_core::moveit_trajectory_processing + moveit_core::moveit_transforms + moveit_core::moveit_utils + rclcpp::rclcpp + srdfdom::srdfdom + urdf::urdf + ) install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) install(DIRECTORY test/data test/launch diff --git a/moveit_ros/planning/robot_model_loader/CMakeLists.txt b/moveit_ros/planning/robot_model_loader/CMakeLists.txt index 284ea4a363..33b16bdd9c 100644 --- a/moveit_ros/planning/robot_model_loader/CMakeLists.txt +++ b/moveit_ros/planning/robot_model_loader/CMakeLists.txt @@ -5,8 +5,7 @@ endif() add_library(moveit_robot_model_loader SHARED src/robot_model_loader.cpp) set_target_properties(moveit_robot_model_loader PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -ament_target_dependencies(moveit_robot_model_loader rclcpp urdf Boost - moveit_core moveit_msgs) + target_link_libraries(moveit_robot_model_loader moveit_rdf_loader moveit_kinematics_plugin_loader) diff --git a/moveit_ros/planning/srdf_publisher_node/CMakeLists.txt b/moveit_ros/planning/srdf_publisher_node/CMakeLists.txt index d548d2f1e6..f6a8ce3293 100644 --- a/moveit_ros/planning/srdf_publisher_node/CMakeLists.txt +++ b/moveit_ros/planning/srdf_publisher_node/CMakeLists.txt @@ -1,6 +1,10 @@ add_library(srdf_publisher_node SHARED src/srdf_publisher_node.cpp) -ament_target_dependencies(srdf_publisher_node PUBLIC std_msgs rclcpp - rclcpp_components) + target_link_libraries(srdf_publisher_node PUBLIC + ${std_msgs_TARGETS} + rclcpp::rclcpp + rclcpp_components::component + rclcpp_components::component_manager + ) if(BUILD_TESTING) find_package(launch_testing_ament_cmake REQUIRED) diff --git a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt index 929e8c88f6..07769ee739 100644 --- a/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt +++ b/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt @@ -7,16 +7,7 @@ target_include_directories( PUBLIC $) set_target_properties(moveit_trajectory_execution_manager PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -ament_target_dependencies( - moveit_trajectory_execution_manager - moveit_core - moveit_ros_occupancy_map_monitor - rclcpp - pluginlib - std_msgs - sensor_msgs - moveit_msgs - tf2_eigen) + target_link_libraries(moveit_trajectory_execution_manager moveit_planning_scene_monitor) @@ -24,19 +15,3 @@ install(DIRECTORY include/ DESTINATION include/moveit_ros_planning) install( FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_trajectory_execution_manager_export.h DESTINATION include/moveit_ros_planning) - -if(CATKIN_ENABLE_TESTING) - # This needs further cleanup before it can run - # add_library(test_controller_manager_plugin - # test/test_moveit_controller_manager_plugin.cpp) - # set_target_properties(test_controller_manager_plugin PROPERTIES VERSION - # "${${PROJECT_NAME}_VERSION}") - # target_link_libraries(test_controller_manager_plugin - # moveit_trajectory_execution_manager ${catkin_LIBRARIES} ${Boost_LIBRARIES}) - # - # find_package(moveit_resources_panda_moveit_config REQUIRED) - # find_package(rostest REQUIRED) add_rostest_gtest(test_execution_manager - # test/test_execution_manager.test test/test_execution_manager.cpp) - # target_link_libraries(test_execution_manager - # moveit_trajectory_execution_manager ${catkin_LIBRARIES} ${Boost_LIBRARIES}) -endif() diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt index 47470e0a76..c8644a9f35 100644 --- a/moveit_ros/planning_interface/CMakeLists.txt +++ b/moveit_ros/planning_interface/CMakeLists.txt @@ -18,7 +18,7 @@ find_package(tf2_geometry_msgs REQUIRED) find_package(tf2_ros REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_action REQUIRED) - +find_package(warehouse_ros REQUIRED) find_package(Eigen3 REQUIRED) set(THIS_PACKAGE_INCLUDE_DIRS @@ -42,6 +42,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS tf2_ros rclcpp rclcpp_action + warehouse_ros Eigen3) include_directories(${THIS_PACKAGE_INCLUDE_DIRS}) diff --git a/moveit_ros/tests/CMakeLists.txt b/moveit_ros/tests/CMakeLists.txt index 4f9a83b7f3..af9be71c4f 100644 --- a/moveit_ros/tests/CMakeLists.txt +++ b/moveit_ros/tests/CMakeLists.txt @@ -13,7 +13,7 @@ if(BUILD_TESTING) include_directories(include) ament_add_gtest_executable(move_group_api_test src/move_group_api_test.cpp) - ament_target_dependencies(move_group_api_test rclcpp) + target_link_libraries(move_group_api_test rclcpp::rclcpp) add_ros_test(launch/move_group_api.test.py TIMEOUT 30 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") endif() diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt index 8a58e56eba..f673f36388 100644 --- a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt +++ b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt @@ -10,16 +10,13 @@ set_target_properties(moveit_trajectory_rviz_plugin_core PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") target_link_libraries( moveit_trajectory_rviz_plugin_core moveit_rviz_plugin_render_tools - moveit_planning_scene_rviz_plugin_core rviz_ogre_vendor::OgreMain) + moveit_planning_scene_rviz_plugin_core + rviz_ogre_vendor::OgreMain + ${moveit_msgs_TARGETS} + pluginlib::pluginlib + rclcpp::rclcpp + ) -ament_target_dependencies( - moveit_trajectory_rviz_plugin_core - rclcpp - rviz2 - moveit_msgs - pluginlib - Boost - rviz_ogre_vendor) target_include_directories(moveit_trajectory_rviz_plugin_core PRIVATE "${OGRE_PREFIX_DIR}/include") @@ -27,10 +24,14 @@ target_include_directories(moveit_trajectory_rviz_plugin_core add_library(moveit_trajectory_rviz_plugin SHARED src/plugin_init.cpp) set_target_properties(moveit_trajectory_rviz_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") + target_link_libraries(moveit_trajectory_rviz_plugin - moveit_trajectory_rviz_plugin_core) -ament_target_dependencies(moveit_trajectory_rviz_plugin rclcpp pluginlib Boost - rviz_ogre_vendor) + PRIVATE + moveit_trajectory_rviz_plugin_core + PUBLIC + pluginlib::pluginlib + rclcpp::rclcpp + ) target_include_directories(moveit_trajectory_rviz_plugin PRIVATE "${OGRE_PREFIX_DIR}/include") diff --git a/moveit_ros/warehouse/CMakeLists.txt b/moveit_ros/warehouse/CMakeLists.txt index e68e1d866b..067627b438 100644 --- a/moveit_ros/warehouse/CMakeLists.txt +++ b/moveit_ros/warehouse/CMakeLists.txt @@ -19,16 +19,6 @@ include(ConfigExtras.cmake) include_directories(include) -set(THIS_PACKAGE_INCLUDE_DEPENDS - fmt - Boost - moveit_core - rclcpp - warehouse_ros - moveit_ros_planning - tf2_eigen - tf2_ros) - # Libraries add_library( moveit_warehouse SHARED @@ -45,13 +35,102 @@ target_include_directories( moveit_warehouse PUBLIC $) set_target_properties(moveit_warehouse PROPERTIES VERSION "${moveit_ros_warehouse_VERSION}") -ament_target_dependencies(moveit_warehouse ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(moveit_warehouse PUBLIC + 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 + moveit_ros_planning::default_request_adapter_parameters + moveit_ros_planning::default_response_adapter_parameters + moveit_ros_planning::kinematics_parameters + moveit_ros_planning::moveit_collision_plugin_loader + moveit_ros_planning::moveit_constraint_sampler_manager_loader + moveit_ros_planning::moveit_cpp + moveit_ros_planning::moveit_kinematics_plugin_loader + moveit_ros_planning::moveit_plan_execution + moveit_ros_planning::moveit_planning_pipeline + moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + moveit_ros_planning::moveit_rdf_loader + moveit_ros_planning::moveit_robot_model_loader + moveit_ros_planning::moveit_trajectory_execution_manager + moveit_ros_planning::planning_pipeline_parameters + moveit_ros_planning::srdf_publisher_node + rclcpp::rclcpp + tf2_eigen::tf2_eigen + tf2_ros::static_transform_broadcaster_node + tf2_ros::tf2_ros + warehouse_ros::warehouse_ros + ) # Executables add_executable(moveit_warehouse_broadcast src/broadcast.cpp) -ament_target_dependencies(moveit_warehouse_broadcast - ${THIS_PACKAGE_INCLUDE_DEPENDS}) -target_link_libraries(moveit_warehouse_broadcast moveit_warehouse) +target_link_libraries(moveit_warehouse_broadcast + PRIVATE + moveit_warehouse + PUBLIC + 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 + moveit_ros_planning::default_request_adapter_parameters + moveit_ros_planning::default_response_adapter_parameters + moveit_ros_planning::kinematics_parameters + moveit_ros_planning::moveit_collision_plugin_loader + moveit_ros_planning::moveit_constraint_sampler_manager_loader + moveit_ros_planning::moveit_cpp + moveit_ros_planning::moveit_kinematics_plugin_loader + moveit_ros_planning::moveit_plan_execution + moveit_ros_planning::moveit_planning_pipeline + moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + moveit_ros_planning::moveit_rdf_loader + moveit_ros_planning::moveit_robot_model_loader + moveit_ros_planning::moveit_trajectory_execution_manager + moveit_ros_planning::planning_pipeline_parameters + moveit_ros_planning::srdf_publisher_node + rclcpp::rclcpp + tf2_eigen::tf2_eigen + tf2_ros::static_transform_broadcaster_node + tf2_ros::tf2_ros + warehouse_ros::warehouse_ros + ) add_executable(moveit_save_to_warehouse src/save_to_warehouse.cpp) ament_target_dependencies(moveit_save_to_warehouse @@ -97,6 +176,5 @@ install( DESTINATION include/moveit_ros_warehouse) ament_export_targets(moveit_ros_warehouseTargets HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package(CONFIG_EXTRAS ConfigExtras.cmake) diff --git a/moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt index 6dc113eab1..a54de1c62d 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt +++ b/moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt @@ -41,9 +41,9 @@ target_include_directories( moveit_setup_assistant PUBLIC $ $) -ament_target_dependencies(moveit_setup_assistant - ${THIS_PACKAGE_INCLUDE_DEPENDS}) -target_link_libraries(moveit_setup_assistant ${Boost_LIBRARIES}) + +target_link_libraries(moveit_setup_assistant pluginlib::pluginlib rviz_common::rviz_common + moveit_setup_framework::moveit_setup_framework) add_executable(moveit_setup_assistant_updater src/collisions_updater.cpp) target_include_directories( @@ -51,8 +51,13 @@ target_include_directories( PUBLIC $ $) -ament_target_dependencies(moveit_setup_assistant_updater - ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(moveit_setup_assistant_updater PUBLIC + ament_index_cpp::ament_index_cpp + moveit_setup_framework::moveit_setup_framework + moveit_setup_srdf_plugins::moveit_setup_srdf_plugins + pluginlib::pluginlib + rclcpp::rclcpp + ) set_target_properties(moveit_setup_assistant_updater PROPERTIES OUTPUT_NAME collisions_updater PREFIX "") diff --git a/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt index 3e3d417fbc..0e8764638c 100644 --- a/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt +++ b/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt @@ -20,6 +20,7 @@ find_package(rviz_common REQUIRED) find_package(rviz_rendering REQUIRED) find_package(srdfdom REQUIRED) find_package(urdf REQUIRED) +find_package(warehouse_ros REQUIRED) set(CMAKE_INCLUDE_CURRENT_DIR ON)