CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(graspit_moveit_plugin)

## 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
    eigen_conversions
    geometry_msgs
    moveit_ros_robot_interaction
    moveit_core
    roscpp
    tf_conversions
    visualization_msgs
    std_msgs
    trajectory_msgs
    cmake_modules
    graspit
    actionlib
    moveit_msgs
    moveit_ros_planning_interface
    graspit_msgs)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(Qt4 COMPONENTS QtCore QtGui  REQUIRED)
find_package(Eigen REQUIRED)
find_package(Boost REQUIRED thread system)

#fixes qt signals slots, boost incompatability
ADD_DEFINITIONS(-DQT_NO_KEYWORDS)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   GetSegmentedMeshedScene.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
# )

## Generate added messages and services with any dependencies listed here
#generate_messages(
#   DEPENDENCIES
#    actionlib
# )

###################################
## 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 you 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 test
  CATKIN_DEPENDS graspit_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

include(${QT_USE_FILE})

set(CMAKE_INCLUDE_CURRENT_DIR ON)

MESSAGE( STATUS "catkin include dirs: " ${catkin_INCLUDE_DIRS} )

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(${catkin_INCLUDE_DIRS} ${QT_INCLUDES})

ADD_DEFINITIONS(${QT_DEFINITIONS})

set(SOURCES
     src/main.cpp
     src/ros_graspit_interface.cpp
     src/planning_scene_msg_builder.cpp
     src/grasp_msg_publisher.cpp)

set(HEADERS
     include/planning_scene_msg_builder.h
     include/grasp_msg_publisher.h)

set(MOCS
     include/ros_graspit_interface.h)


qt4_wrap_cpp(GENERATED_SOURCES ${MOCS})

source_group("Generated Sources - Do Not Edit" FILES ${GENERATED_SOURCES})

# Make sure the compiler can find the pre-processed files from qt4_wrap_ui
include_directories("${CMAKE_BINARY_DIR}")

## Declare a cpp library
 add_library(ros_graspit_moveit_interface
    ${SOURCES}
    ${HEADERS}
    ${GENERATED_SOURCES}
    ${MOCS}
 )

## Declare a cpp executable
# add_executable(test_node src/test_node.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(ros_graspit_moveit_interface graspit ${QT_DEFINITIONS})
add_dependencies(ros_graspit_moveit_interface ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
 target_link_libraries(ros_graspit_moveit_interface
   ${catkin_LIBRARIES}
   ${QT_LIBRARIES}
 )



#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS test test_node
#   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}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_test.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)