diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index d67d48eb2a..b2d318052d 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -147,27 +147,21 @@ add_subdirectory(collision_detection_fcl) install( -<<<<<<< HEAD TARGETS - collision_detector_bullet_plugin - moveit_butterworth_filter - moveit_butterworth_parameters - moveit_collision_distance_field moveit_collision_detection - moveit_collision_detection_fcl moveit_collision_detection_bullet - moveit_dynamics_solver + moveit_collision_detection_fcl + moveit_collision_distance_field moveit_constraint_samplers moveit_distance_field + moveit_dynamics_solver moveit_exceptions - moveit_kinematics_base moveit_kinematic_constraints + moveit_kinematics_base moveit_kinematics_metrics + moveit_macros moveit_planning_interface moveit_planning_scene - moveit_planning_request_adapter - # TODO: Port python bindings - # moveit_python_tools moveit_robot_model moveit_robot_state moveit_robot_trajectory @@ -177,56 +171,31 @@ install( moveit_transforms moveit_utils EXPORT export_${PROJECT_NAME} -======= - TARGETS moveit_collision_detection - moveit_collision_detection_bullet - moveit_collision_detection_fcl - moveit_collision_distance_field - moveit_constraint_samplers - moveit_distance_field - moveit_dynamics_solver - moveit_exceptions - moveit_kinematic_constraints - moveit_kinematics_base - moveit_kinematics_metrics - moveit_macros - moveit_planning_interface - moveit_planning_scene - moveit_robot_model - moveit_robot_state - moveit_robot_trajectory - moveit_smoothing_base - moveit_test_utils - moveit_trajectory_processing - moveit_transforms - moveit_utils - EXPORT moveit_coreTargets ->>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin INCLUDES DESTINATION include ) -<<<<<<< HEAD ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) -======= + install( - TARGETS collision_detector_bullet_plugin - collision_detector_fcl_plugin - moveit_acceleration_filter - moveit_acceleration_filter_parameters - moveit_butterworth_filter - moveit_butterworth_filter_parameters - moveit_ruckig_filter - moveit_ruckig_filter_parameters + TARGETS + collision_detector_bullet_plugin + collision_detector_fcl_plugin + moveit_acceleration_filter + moveit_acceleration_filter_parameters + moveit_butterworth_filter + moveit_butterworth_filter_parameters + moveit_ruckig_filter + moveit_ruckig_filter_parameters EXPORT moveit_core_pluginTargets LIBRARY DESTINATION lib ARCHIVE DESTINATION lib - RUNTIME DESTINATION bin) + RUNTIME DESTINATION bin + INCLUDES DESTINATION include +) -ament_export_targets(moveit_coreTargets HAS_LIBRARY_TARGET) ->>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) ament_export_dependencies( angles Bullet diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt index 045a22f0e5..ae99d726a9 100644 --- a/moveit_kinematics/CMakeLists.txt +++ b/moveit_kinematics/CMakeLists.txt @@ -29,21 +29,18 @@ set(THIS_PACKAGE_INCLUDE_DIRS ) set(THIS_PACKAGE_LIBRARIES -<<<<<<< HEAD + cached_ik_kinematics_parameters moveit_cached_ik_kinematics_base + kdl_kinematics_parameters + srv_kinematics_parameters +) + +set(THIS_PACKAGE_PLUGINS moveit_cached_ik_kinematics_plugin moveit_kdl_kinematics_plugin moveit_lma_kinematics_plugin moveit_srv_kinematics_plugin ) -======= - cached_ik_kinematics_parameters moveit_cached_ik_kinematics_base - kdl_kinematics_parameters srv_kinematics_parameters) - -set(THIS_PACKAGE_PLUGINS - moveit_cached_ik_kinematics_plugin moveit_kdl_kinematics_plugin - moveit_srv_kinematics_plugin) ->>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) set(THIS_PACKAGE_INCLUDE_DEPENDS pluginlib @@ -75,7 +72,15 @@ install( INCLUDES DESTINATION include ) -<<<<<<< HEAD +install( + TARGETS ${THIS_PACKAGE_PLUGINS} + EXPORT export_${PROJECT_NAME}PluginTargets + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + DESTINATION include/moveit_kinematics +) + ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor) @@ -93,18 +98,5 @@ if(BUILD_TESTING) # Run all lint tests in package.xml except those listed above ament_lint_auto_find_test_dependencies() endif() -======= -install( - TARGETS ${THIS_PACKAGE_PLUGINS} - EXPORT ${PROJECT_NAME}PluginTargets - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib - RUNTIME DESTINATION bin - INCLUDES - DESTINATION include/moveit_kinematics) - -ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ->>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) ament_package(CONFIG_EXTRAS ConfigExtras.cmake) diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt index 06386a93e3..e78ecf6279 100644 --- a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt +++ b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt @@ -9,24 +9,10 @@ ament_target_dependencies(${MOVEIT_LIB_NAME} moveit_core moveit_msgs ) +target_link_libraries(${MOVEIT_LIB_NAME} + cached_ik_kinematics_parameters + kdl_kinematics_parameters) -<<<<<<< HEAD -======= -target_link_libraries( - moveit_cached_ik_kinematics_base PUBLIC cached_ik_kinematics_parameters - kdl_kinematics_parameters) - -add_library(moveit_cached_ik_kinematics_plugin SHARED - src/cached_ik_kinematics_plugin.cpp) -set_target_properties(moveit_cached_ik_kinematics_plugin - PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -ament_target_dependencies(moveit_cached_ik_kinematics_plugin PUBLIC rclcpp - moveit_core moveit_msgs rsl) -target_link_libraries( - moveit_cached_ik_kinematics_plugin - PRIVATE cached_ik_kinematics_parameters moveit_kdl_kinematics_plugin - moveit_srv_kinematics_plugin moveit_cached_ik_kinematics_base) ->>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) if(trac_ik_kinematics_plugin_FOUND) include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS}) endif() @@ -40,9 +26,10 @@ ament_target_dependencies(${MOVEIT_LIB_NAME} moveit_msgs ) target_link_libraries(${MOVEIT_LIB_NAME} + cached_ik_kinematics_parameters moveit_cached_ik_kinematics_base - moveit_kdl_kinematics_plugin - moveit_srv_kinematics_plugin) +) + if(trac_ik_kinematics_plugin_FOUND) target_link_libraries(${MOVEIT_LIB_NAME} ${trac_ik_kinematics_plugin_LIBRARIES}) set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_DEFINITIONS "CACHED_IK_KINEMATICS_TRAC_IK") diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index ee9c14350b..9653c0cca5 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -73,7 +73,6 @@ ament_target_dependencies(moveit_move_group_default_capabilities ${THIS_PACKAGE_ target_link_libraries(moveit_move_group_default_capabilities moveit_move_group_capabilities_base) install( -<<<<<<< HEAD TARGETS move_group list_move_group_capabilities @@ -82,31 +81,25 @@ install( install( TARGETS - moveit_move_group_default_capabilities moveit_move_group_capabilities_base EXPORT export_${PROJECT_NAME} -======= - TARGETS moveit_move_group_capabilities_base - EXPORT moveit_ros_move_groupTargets ->>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin INCLUDES DESTINATION include ) -<<<<<<< HEAD -install(DIRECTORY include/ DESTINATION include) -======= install( - TARGETS moveit_move_group_default_capabilities + TARGETS + moveit_move_group_default_capabilities EXPORT moveit_move_group_default_capabilitiesTargets LIBRARY DESTINATION lib ARCHIVE DESTINATION lib - RUNTIME DESTINATION bin) + RUNTIME DESTINATION bin + INCLUDES DESTINATION include +) install(DIRECTORY include/ DESTINATION include/moveit_ros_move_group) ->>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})