fix small issues

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
moveit · Jan 29, 2025 · 6ba52b6 · 6ba52b6
1 parent 82d6fb0
commit 6ba52b6
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Showing 4 changed files with 83 additions and 71 deletions.
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -147,48 +147,55 @@ add_subdirectory(collision_detection_fcl)
 
 
 install(
-        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 export_${PROJECT_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin)
+  TARGETS
+    moveit_collision_detection
+    moveit_collision_detection_bullet
+    moveit_collision_detection_fcl
+    moveit_collision_distance_field
+    moveit_constraint_samplers
+    moveit_distance_field
+    moveit_dynamics_solver
+    moveit_exceptions
+    moveit_kinematic_constraints
+    moveit_kinematics_base
+    moveit_kinematics_metrics
+    moveit_macros
+    moveit_planning_interface
+    moveit_planning_scene
+    moveit_robot_model
+    moveit_robot_state
+    moveit_robot_trajectory
+    moveit_smoothing_base
+    moveit_test_utils
+    moveit_trajectory_processing
+    moveit_transforms
+    moveit_utils
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+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
-        EXPORT moveit_core_pluginTargets
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin)
-
-ament_export_targets(moveit_coreTargets HAS_LIBRARY_TARGET)
+  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
+  INCLUDES DESTINATION include
+)
+
 ament_export_dependencies(
   angles
   Bullet

diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
@@ -29,17 +29,18 @@ set(THIS_PACKAGE_INCLUDE_DIRS
 )
 
 set(THIS_PACKAGE_LIBRARIES
-        cached_ik_kinematics_parameters
-        moveit_cached_ik_kinematics_base
-        lma_kinematics_plugin
-        kdl_kinematics_parameters
-        srv_kinematics_parameters
+  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)
+  moveit_cached_ik_kinematics_plugin
+  moveit_kdl_kinematics_plugin
+  moveit_lma_kinematics_plugin
+  moveit_srv_kinematics_plugin
+)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   pluginlib
@@ -68,17 +69,17 @@ install(
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
-  INCLUDES
-  DESTINATION include/moveit_kinematics)
+  INCLUDES DESTINATION include
+)
 
 install(
-        TARGETS ${THIS_PACKAGE_PLUGINS}
-        EXPORT export_${PROJECT_NAME}PluginTargets
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin
-        INCLUDES
-        DESTINATION include/moveit_kinematics)
+  TARGETS ${THIS_PACKAGE_PLUGINS}
+  EXPORT export_${PROJECT_NAME}PluginTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor)

diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
@@ -26,10 +26,9 @@ 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)
+    cached_ik_kinematics_parameters
+    moveit_cached_ik_kinematics_base
+)
 
 if(trac_ik_kinematics_plugin_FOUND)
     target_link_libraries(${MOVEIT_LIB_NAME} ${trac_ik_kinematics_plugin_LIBRARIES})

diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
@@ -80,18 +80,23 @@ install(
   DESTINATION lib/${PROJECT_NAME})
 
 install(
-        TARGETS moveit_move_group_capabilities_base
-        EXPORT export_${PROJECT_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin)
+  TARGETS
+    moveit_move_group_capabilities_base
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+)
 
 install(
-        TARGETS moveit_move_group_default_capabilities
-        EXPORT moveit_move_group_default_capabilitiesTargets
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin)
+  TARGETS
+    moveit_move_group_default_capabilities
+  EXPORT moveit_move_group_default_capabilitiesTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
 
 install(DIRECTORY include/ DESTINATION include)