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Remove plugins from export set (backport #3227) #3241

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wants to merge 11 commits into from
27 changes: 18 additions & 9 deletions moveit_core/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -148,25 +148,21 @@ add_subdirectory(collision_detection_fcl)

install(
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_planning_scene
moveit_robot_model
moveit_robot_state
moveit_robot_trajectory
Expand All @@ -183,6 +179,19 @@ install(
)

ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)

install(
TARGETS
collision_detector_bullet_plugin
collision_detector_fcl_plugin
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For some reason, collision_detector_fcl_plugin was actually not in the previous list of targets to install -- but it builds fine.

@henningkayser do you maybe know if there was something specific with Humble where we shouldn't be building it?

moveit_butterworth_filter
EXPORT moveit_core_pluginTargets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include
)

ament_export_dependencies(
angles
Bullet
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1 change: 1 addition & 0 deletions moveit_core/collision_detection/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ generate_export_header(${MOVEIT_LIB_NAME})
target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}> $<TARGET_PROPERTY:moveit_planning_scene,INCLUDE_DIRECTORIES>)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
ament_target_dependencies(${MOVEIT_LIB_NAME}
pluginlib
rclcpp
rmw_implementation
urdf
Expand Down
1 change: 1 addition & 0 deletions moveit_core/online_signal_smoothing/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ target_link_libraries(${BUTTERWORTH_FILTER_LIB}
)
ament_target_dependencies(${BUTTERWORTH_FILTER_LIB}
srdfdom # include dependency from moveit_robot_model
pluginlib
)

# Installation
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12 changes: 12 additions & 0 deletions moveit_kinematics/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,9 @@ set(THIS_PACKAGE_INCLUDE_DIRS

set(THIS_PACKAGE_LIBRARIES
moveit_cached_ik_kinematics_base
)

set(THIS_PACKAGE_PLUGINS
moveit_cached_ik_kinematics_plugin
moveit_kdl_kinematics_plugin
moveit_lma_kinematics_plugin
Expand Down Expand Up @@ -66,6 +69,15 @@ install(
INCLUDES DESTINATION include
)

install(
TARGETS ${THIS_PACKAGE_PLUGINS}
EXPORT export_${PROJECT_NAME}PluginTargets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
DESTINATION include
)

ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor)

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11 changes: 10 additions & 1 deletion moveit_ros/move_group/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,6 @@ install(

install(
TARGETS
moveit_move_group_default_capabilities
moveit_move_group_capabilities_base
EXPORT export_${PROJECT_NAME}
LIBRARY DESTINATION lib
Expand All @@ -90,6 +89,16 @@ install(
INCLUDES DESTINATION include
)

install(
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)

ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
Expand Down
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