From fcd9ce7ce4adfb99c3c879c845cb05f2040716cc Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Mon, 13 Jan 2025 14:30:35 -0700 Subject: [PATCH 1/9] Remove plugins from export set (#3227) * Remove plugins from export set Signed-off-by: Paul Gesel * move more plugins to different export set Signed-off-by: Paul Gesel * run pre-commit Signed-off-by: Paul Gesel * remove plugins from moveit_kinematics export Signed-off-by: Paul Gesel * do not link base interface to plugin in kinematics Signed-off-by: Paul Gesel --------- Signed-off-by: Paul Gesel Co-authored-by: Sebastian Jahr (cherry picked from commit b5eb4deb355bda2770e822f833b8fd38ea38f985) # Conflicts: # moveit_core/CMakeLists.txt # moveit_kinematics/CMakeLists.txt # moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt # moveit_ros/move_group/CMakeLists.txt --- moveit_core/CMakeLists.txt | 44 +++++++++++++++++++ moveit_kinematics/CMakeLists.txt | 23 ++++++++++ .../CMakeLists.txt | 17 +++++++ moveit_ros/move_group/CMakeLists.txt | 16 +++++++ 4 files changed, 100 insertions(+) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index 7a27cda45a..d67d48eb2a 100644 --- 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 index 88472a2818..045a22f0e5 100644 --- 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(${THIS_PACKAGE_INCLUDE_DEPENDS}) +>>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) ament_package(CONFIG_EXTRAS ConfigExtras.cmake) diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt index e78ee06f0a..06386a93e3 100644 --- a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt +++ b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt @@ -10,6 +10,23 @@ ament_target_dependencies(${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 index ebabb9d205..ee9c14350b 100644 --- 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}) From afac11d77c65afcc42a40c4568eac57e6f0f0021 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Sun, 2 Feb 2025 13:48:35 -0700 Subject: [PATCH 2/9] Fix backport for #3227 (#3282) Signed-off-by: Paul Gesel Co-authored-by: sea-bass --- moveit_core/CMakeLists.txt | 61 ++++--------------- .../collision_detection/CMakeLists.txt | 2 + moveit_core/distance_field/CMakeLists.txt | 1 + .../online_signal_smoothing/CMakeLists.txt | 1 + moveit_core/robot_model/CMakeLists.txt | 1 + moveit_core/robot_state/CMakeLists.txt | 1 + moveit_kinematics/CMakeLists.txt | 35 ++++------- .../CMakeLists.txt | 21 +------ moveit_ros/move_group/CMakeLists.txt | 17 ++---- 9 files changed, 37 insertions(+), 103 deletions(-) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index d67d48eb2a..e9cd9d867b 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -147,27 +147,20 @@ 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_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 +170,26 @@ 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_butterworth_filter 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_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt index 60ae3c713c..247ec4eb62 100644 --- a/moveit_core/collision_detection/CMakeLists.txt +++ b/moveit_core/collision_detection/CMakeLists.txt @@ -16,12 +16,14 @@ generate_export_header(${MOVEIT_LIB_NAME}) target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $ $) set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION}) ament_target_dependencies(${MOVEIT_LIB_NAME} + pluginlib rclcpp rmw_implementation urdf urdfdom urdfdom_headers visualization_msgs + eigen_stl_containers tf2_eigen geometric_shapes OCTOMAP diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt index 0f4e5dd710..b0db125459 100644 --- a/moveit_core/distance_field/CMakeLists.txt +++ b/moveit_core/distance_field/CMakeLists.txt @@ -9,6 +9,7 @@ add_library(${MOVEIT_LIB_NAME} SHARED set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") ament_target_dependencies(${MOVEIT_LIB_NAME} Boost + eigen_stl_containers urdfdom urdfdom_headers visualization_msgs diff --git a/moveit_core/online_signal_smoothing/CMakeLists.txt b/moveit_core/online_signal_smoothing/CMakeLists.txt index 0982a5d4d1..35f2dbe2cf 100644 --- a/moveit_core/online_signal_smoothing/CMakeLists.txt +++ b/moveit_core/online_signal_smoothing/CMakeLists.txt @@ -38,6 +38,7 @@ target_link_libraries(${BUTTERWORTH_FILTER_LIB} ) ament_target_dependencies(${BUTTERWORTH_FILTER_LIB} srdfdom # include dependency from moveit_robot_model + pluginlib ) # Installation diff --git a/moveit_core/robot_model/CMakeLists.txt b/moveit_core/robot_model/CMakeLists.txt index b6b69b880c..a1237be616 100644 --- a/moveit_core/robot_model/CMakeLists.txt +++ b/moveit_core/robot_model/CMakeLists.txt @@ -18,6 +18,7 @@ ament_target_dependencies(${MOVEIT_LIB_NAME} angles moveit_msgs Eigen3 + eigen_stl_containers geometric_shapes urdf urdfdom_headers diff --git a/moveit_core/robot_state/CMakeLists.txt b/moveit_core/robot_state/CMakeLists.txt index e2c942e3c2..fc318291bb 100644 --- a/moveit_core/robot_state/CMakeLists.txt +++ b/moveit_core/robot_state/CMakeLists.txt @@ -9,6 +9,7 @@ add_library(${MOVEIT_LIB_NAME} SHARED set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION}) ament_target_dependencies(${MOVEIT_LIB_NAME} urdf + eigen_stl_containers tf2_geometry_msgs geometric_shapes urdfdom_headers diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt index 045a22f0e5..f824079819 100644 --- a/moveit_kinematics/CMakeLists.txt +++ b/moveit_kinematics/CMakeLists.txt @@ -29,21 +29,15 @@ set(THIS_PACKAGE_INCLUDE_DIRS ) set(THIS_PACKAGE_LIBRARIES -<<<<<<< HEAD moveit_cached_ik_kinematics_base +) + +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 +69,15 @@ 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 +95,5 @@ 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(${THIS_PACKAGE_INCLUDE_DEPENDS}) ->>>>>>> b5eb4deb3 (Remove plugins from export set (#3227)) ament_package(CONFIG_EXTRAS ConfigExtras.cmake) diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt index 06386a93e3..6fcae7b4b3 100644 --- a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt +++ b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt @@ -10,23 +10,6 @@ ament_target_dependencies(${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(${trac_ik_kinematics_plugin_INCLUDE_DIRS}) endif() @@ -41,8 +24,8 @@ ament_target_dependencies(${MOVEIT_LIB_NAME} ) target_link_libraries(${MOVEIT_LIB_NAME} moveit_cached_ik_kinematics_base - moveit_kdl_kinematics_plugin - moveit_srv_kinematics_plugin) +) + if(trac_ik_kinematics_plugin_FOUND) target_link_libraries(${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}) From f1678732668c54b700395d6d0f1b644b3f3d4048 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Sun, 2 Feb 2025 15:51:37 -0500 Subject: [PATCH 3/9] Add missing target to install --- moveit_core/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index e9cd9d867b..709409eb3e 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -160,6 +160,7 @@ install( moveit_kinematics_base moveit_kinematics_metrics moveit_planning_interface + moveit_planning_request_adapter moveit_planning_scene moveit_robot_model moveit_robot_state From 5b0cadd8caa49e261d38f35c04f02c6fd6718424 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Sun, 2 Feb 2025 16:03:49 -0500 Subject: [PATCH 4/9] I have no idea why this fixes it, but it does --- moveit_ros/move_group/CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index 9653c0cca5..254827d689 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -39,6 +39,10 @@ add_library(moveit_move_group_capabilities_base SHARED src/move_group_context.cpp src/move_group_capability.cpp ) +target_include_directories( + moveit_move_group_capabilities_base + PUBLIC $ + $) add_library(moveit_move_group_default_capabilities SHARED src/default_capabilities/move_action_capability.cpp @@ -68,6 +72,7 @@ target_link_libraries(move_group moveit_move_group_capabilities_base) add_executable(list_move_group_capabilities src/list_capabilities.cpp) ament_target_dependencies(list_move_group_capabilities ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(list_move_group_capabilities moveit_move_group_capabilities_base) ament_target_dependencies(moveit_move_group_default_capabilities ${THIS_PACKAGE_INCLUDE_DEPENDS}) target_link_libraries(moveit_move_group_default_capabilities moveit_move_group_capabilities_base) From d0b5635b8867675b35d7ac9bfa4ac6e589d8fcb5 Mon Sep 17 00:00:00 2001 From: sea-bass Date: Sun, 2 Feb 2025 16:54:05 -0500 Subject: [PATCH 5/9] CMakeLists lint pedantry --- moveit_ros/move_group/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index 254827d689..1b77341008 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -42,7 +42,7 @@ add_library(moveit_move_group_capabilities_base SHARED target_include_directories( moveit_move_group_capabilities_base PUBLIC $ - $) + $) add_library(moveit_move_group_default_capabilities SHARED src/default_capabilities/move_action_capability.cpp From ad01ea8592a186ccd13f06081fa723e23d8853ce Mon Sep 17 00:00:00 2001 From: sea-bass Date: Sun, 2 Feb 2025 21:05:07 -0500 Subject: [PATCH 6/9] Try fix move_group build --- moveit_ros/move_group/CMakeLists.txt | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt index 1b77341008..491ae9c7c3 100644 --- a/moveit_ros/move_group/CMakeLists.txt +++ b/moveit_ros/move_group/CMakeLists.txt @@ -39,10 +39,6 @@ add_library(moveit_move_group_capabilities_base SHARED src/move_group_context.cpp src/move_group_capability.cpp ) -target_include_directories( - moveit_move_group_capabilities_base - PUBLIC $ - $) add_library(moveit_move_group_default_capabilities SHARED src/default_capabilities/move_action_capability.cpp @@ -72,7 +68,6 @@ target_link_libraries(move_group moveit_move_group_capabilities_base) add_executable(list_move_group_capabilities src/list_capabilities.cpp) ament_target_dependencies(list_move_group_capabilities ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) -target_link_libraries(list_move_group_capabilities moveit_move_group_capabilities_base) ament_target_dependencies(moveit_move_group_default_capabilities ${THIS_PACKAGE_INCLUDE_DEPENDS}) target_link_libraries(moveit_move_group_default_capabilities moveit_move_group_capabilities_base) @@ -104,7 +99,7 @@ install( INCLUDES DESTINATION include ) -install(DIRECTORY include/ DESTINATION include/moveit_ros_move_group) +install(DIRECTORY include/ DESTINATION include) ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) From 458d8d92a493d18d2be1c2cee9734cb16f784bfe Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Mon, 3 Feb 2025 07:58:03 -0500 Subject: [PATCH 7/9] Update moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt --- moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt index 6fcae7b4b3..e78ee06f0a 100644 --- a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt +++ b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt @@ -24,8 +24,8 @@ ament_target_dependencies(${MOVEIT_LIB_NAME} ) target_link_libraries(${MOVEIT_LIB_NAME} moveit_cached_ik_kinematics_base -) - + moveit_kdl_kinematics_plugin + moveit_srv_kinematics_plugin) if(trac_ik_kinematics_plugin_FOUND) target_link_libraries(${MOVEIT_LIB_NAME} ${trac_ik_kinematics_plugin_LIBRARIES}) set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_DEFINITIONS "CACHED_IK_KINEMATICS_TRAC_IK") From 9e638d1fdea25b07fea3b683ff8918fd530602b3 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Mon, 3 Feb 2025 19:23:47 -0500 Subject: [PATCH 8/9] Build moveit_butterworth_parameters --- moveit_core/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index 709409eb3e..2599758ee2 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -148,6 +148,7 @@ add_subdirectory(collision_detection_fcl) install( TARGETS + moveit_butterworth_parameters moveit_collision_detection moveit_collision_detection_bullet moveit_collision_detection_fcl From 788e95d2168e7848e3133bbcdcb840d073ba4e19 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Mon, 3 Feb 2025 19:26:12 -0500 Subject: [PATCH 9/9] Fix install location --- moveit_kinematics/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt index f824079819..04aeb9e08b 100644 --- a/moveit_kinematics/CMakeLists.txt +++ b/moveit_kinematics/CMakeLists.txt @@ -75,7 +75,7 @@ install( LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin - DESTINATION include/moveit_kinematics + DESTINATION include ) ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)