Remove plugins from export set (#3227)

* Remove plugins from export set Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * move more plugins to different export set Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * run pre-commit Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * remove plugins from moveit_kinematics export Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * do not link base interface to plugin in kinematics Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> --------- Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> (cherry picked from commit b5eb4de) # Conflicts: # moveit_core/CMakeLists.txt # moveit_kinematics/CMakeLists.txt # moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt # moveit_ros/move_group/CMakeLists.txt
moveit · Jan 13, 2025 · fcd9ce7 · fcd9ce7
1 parent c705c2c
commit fcd9ce7
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diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -147,6 +147,7 @@ add_subdirectory(collision_detection_fcl)
 
 
 install(
+<<<<<<< HEAD
   TARGETS
     collision_detector_bullet_plugin
     moveit_butterworth_filter
@@ -176,13 +177,56 @@ 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
+  EXPORT moveit_core_pluginTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+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
@@ -29,12 +29,21 @@ set(THIS_PACKAGE_INCLUDE_DIRS
 )
 
 set(THIS_PACKAGE_LIBRARIES
+<<<<<<< HEAD
   moveit_cached_ik_kinematics_base
   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
@@ -66,6 +75,7 @@ install(
   INCLUDES DESTINATION include
 )
 
+<<<<<<< HEAD
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor)
 
@@ -83,5 +93,18 @@ 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
@@ -10,6 +10,23 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_msgs
 )
 
+<<<<<<< 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()

diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
@@ -73,6 +73,7 @@ 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
@@ -84,13 +85,28 @@ install(
     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
+  EXPORT moveit_move_group_default_capabilitiesTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+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})