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Fix amend deprecation into moveit_ros folder #3664

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5 changes: 5 additions & 0 deletions .kdev4/moveit2.kdev4
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[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
4 changes: 4 additions & 0 deletions moveit2.kdev4
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[Project]
CreatedFrom=
Manager=KDevCustomBuildSystem
Name=moveit2
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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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)
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35 changes: 32 additions & 3 deletions moveit_planners/chomp/chomp_interface/CMakeLists.txt
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Expand Up @@ -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
Expand Down
31 changes: 28 additions & 3 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 @@ -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()
39 changes: 28 additions & 11 deletions moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt
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Expand Up @@ -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 ##
Expand All @@ -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()
35 changes: 30 additions & 5 deletions moveit_planners/stomp/CMakeLists.txt
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Expand Up @@ -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)
Expand All @@ -46,4 +72,3 @@ if(BUILD_TESTING)
add_subdirectory(test)
endif()

ament_package()
8 changes: 4 additions & 4 deletions moveit_planners/stomp/test/CMakeLists.txt
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@@ -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)
43 changes: 31 additions & 12 deletions moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt
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Expand Up @@ -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)
Expand All @@ -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()
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