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Remove plugins from export set #3227

Merged
merged 8 commits into from
Jan 13, 2025
Merged

Remove plugins from export set #3227

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0a85d3d
Remove plugins from export set
pac48 Jan 11, 2025
2069e5b
Merge branch 'main' into pr-remove-plugin-from-export-set
pac48 Jan 11, 2025
80f3b9e
move more plugins to different export set
pac48 Jan 11, 2025
13aba60
Merge branch 'pr-remove-plugin-from-export-set' of github.com:pac48/m…
pac48 Jan 11, 2025
1542003
run pre-commit
pac48 Jan 11, 2025
452badd
remove plugins from moveit_kinematics export
pac48 Jan 11, 2025
aef93e5
do not link base interface to plugin in kinematics
pac48 Jan 11, 2025
a28eb73
Merge branch 'main' into pr-remove-plugin-from-export-set
sjahr Jan 13, 2025
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24 changes: 15 additions & 9 deletions moveit_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
Expand Down
20 changes: 14 additions & 6 deletions moveit_kinematics/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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})

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2 changes: 1 addition & 1 deletion moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
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Expand Up @@ -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)
Expand Down
10 changes: 8 additions & 2 deletions moveit_ros/move_group/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
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