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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(ap_planning)
add_compile_options(-std=c++17)
if(NOT "${CMAKE_CXX_STANDARD}")
set(CMAKE_CXX_STANDARD 17)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
affordance_primitive_msgs
affordance_primitives
moveit_core
moveit_ros_planning_interface
moveit_visual_tools
pluginlib
roscpp
tf2_eigen
)
## System dependencies are found with CMake's conventions
find_package(ompl REQUIRED)
find_package(Boost REQUIRED system filesystem date_time thread serialization program_options)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
${PROJECT_NAME}
${PROJECT_NAME}_plugins
CATKIN_DEPENDS
affordance_primitive_msgs
affordance_primitives
moveit_core
moveit_ros_planning_interface
roscpp
DEPENDS
OMPL
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
include_directories(SYSTEM
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${OMPL_INCLUDE_DIRS})
## Declare a C++ library
add_library(${PROJECT_NAME}
src/ap_planning.cpp
src/dss_planner.cpp
src/sequential_step_planner.cpp
src/state_sampling.cpp
src/state_utils.cpp
)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(${PROJECT_NAME}_plugins
src/ik_solver.cpp
)
add_dependencies(${PROJECT_NAME}_plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_plugins ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
#############
## Install ##
#############
install(
TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_plugins
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ap_planning.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)