From 0a85d3dc9974873c2665412238487e1faf25900f Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Fri, 10 Jan 2025 17:00:04 -0700 Subject: [PATCH 1/5] Remove plugins from export set Signed-off-by: Paul Gesel --- moveit_ros/move_group/CMakeLists.txt | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index bd48293e7a..3c57b83c86 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -79,13 +79,19 @@ install(TARGETS move_group list_move_group_capabilities RUNTIME DESTINATION lib/moveit_ros_move_group) install( - TARGETS moveit_move_group_default_capabilities - moveit_move_group_capabilities_base + TARGETS moveit_move_group_capabilities_base EXPORT moveit_ros_move_groupTargets 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) + install(DIRECTORY include/ DESTINATION include/moveit_ros_move_group) install(PROGRAMS scripts/load_map scripts/save_map From 80f3b9ea61925f6198f98b1319bed8d1b4502f96 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Fri, 10 Jan 2025 17:15:57 -0700 Subject: [PATCH 2/5] move more plugins to different export set Signed-off-by: Paul Gesel --- moveit_core/CMakeLists.txt | 24 +++++++++++++++--------- 1 file changed, 15 insertions(+), 9 deletions(-) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index 608babbebc..ca30488f79 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -69,13 +69,7 @@ add_subdirectory(utils) add_subdirectory(version) 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_collision_detection + TARGETS moveit_collision_detection moveit_collision_detection_bullet moveit_collision_detection_fcl moveit_collision_distance_field @@ -92,8 +86,6 @@ install( moveit_robot_model moveit_robot_state moveit_robot_trajectory - moveit_ruckig_filter - moveit_ruckig_filter_parameters moveit_smoothing_base moveit_test_utils moveit_trajectory_processing @@ -104,6 +96,20 @@ install( ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) +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) ament_export_dependencies( angles From 1542003ef832d5eb4fd512212d21397fbe9efc9c Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Sat, 11 Jan 2025 14:10:38 -0700 Subject: [PATCH 3/5] run pre-commit Signed-off-by: Paul Gesel --- moveit_ros/move_group/CMakeLists.txt | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index 3c57b83c86..2cdebb6ee9 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -86,11 +86,11 @@ install( 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) install(DIRECTORY include/ DESTINATION include/moveit_ros_move_group) From 452badd0f707c32dd033ee2d9fff8d25f7a37ebf Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Sat, 11 Jan 2025 14:33:31 -0700 Subject: [PATCH 4/5] remove plugins from moveit_kinematics export Signed-off-by: Paul Gesel --- moveit_kinematics/CMakeLists.txt | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt index 21b03dfb14..a453674aba 100644 --- a/moveit_kinematics/CMakeLists.txt +++ b/moveit_kinematics/CMakeLists.txt @@ -28,12 +28,11 @@ set(THIS_PACKAGE_INCLUDE_DIRS cached_ik_kinematics_plugin/include) set(THIS_PACKAGE_LIBRARIES - cached_ik_kinematics_parameters - moveit_cached_ik_kinematics_base - moveit_cached_ik_kinematics_plugin - kdl_kinematics_parameters - moveit_kdl_kinematics_plugin - 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) set(THIS_PACKAGE_INCLUDE_DEPENDS @@ -74,6 +73,15 @@ install( INCLUDES DESTINATION include/moveit_kinematics) +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}) From aef93e5eb5584ca16a632e16a1f165250802de30 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Sat, 11 Jan 2025 14:44:25 -0700 Subject: [PATCH 5/5] do not link base interface to plugin in kinematics Signed-off-by: Paul Gesel --- moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt index f281644753..5ce836e33a 100644 --- a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt +++ b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt @@ -21,7 +21,7 @@ generate_parameter_library( target_link_libraries( moveit_cached_ik_kinematics_base PUBLIC cached_ik_kinematics_parameters - moveit_kdl_kinematics_plugin) + kdl_kinematics_parameters) add_library(moveit_cached_ik_kinematics_plugin SHARED src/cached_ik_kinematics_plugin.cpp)