Remove plugins from export set (moveit#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>
pac48 · Jan 29, 2025 · 82d6fb0 · 82d6fb0
1 parent c705c2c
commit 82d6fb0
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Showing 4 changed files with 82 additions and 54 deletions.
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -147,42 +147,48 @@ 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_constraint_samplers
-    moveit_distance_field
-    moveit_exceptions
-    moveit_kinematics_base
-    moveit_kinematic_constraints
-    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
-    moveit_smoothing_base
-    moveit_test_utils
-    moveit_trajectory_processing
-    moveit_transforms
-    moveit_utils
-  EXPORT export_${PROJECT_NAME}
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
-)
+        TARGETS moveit_collision_detection
+        moveit_collision_detection_bullet
+        moveit_collision_detection_fcl
+        moveit_collision_distance_field
+        moveit_constraint_samplers
+        moveit_distance_field
+        moveit_dynamics_solver
+        moveit_exceptions
+        moveit_kinematic_constraints
+        moveit_kinematics_base
+        moveit_kinematics_metrics
+        moveit_macros
+        moveit_planning_interface
+        moveit_planning_scene
+        moveit_robot_model
+        moveit_robot_state
+        moveit_robot_trajectory
+        moveit_smoothing_base
+        moveit_test_utils
+        moveit_trajectory_processing
+        moveit_transforms
+        moveit_utils
+        EXPORT export_${PROJECT_NAME}
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib
+        RUNTIME DESTINATION bin)
 
-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)
 ament_export_dependencies(
   angles
   Bullet

diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
@@ -29,13 +29,18 @@ set(THIS_PACKAGE_INCLUDE_DIRS
 )
 
 set(THIS_PACKAGE_LIBRARIES
-  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
+        lma_kinematics_plugin
+        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
   pluginlib
   moveit_core
@@ -63,8 +68,17 @@ install(
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
-)
+  INCLUDES
+  DESTINATION include/moveit_kinematics)
+
+install(
+        TARGETS ${THIS_PACKAGE_PLUGINS}
+        EXPORT export_${PROJECT_NAME}PluginTargets
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib
+        RUNTIME DESTINATION bin
+        INCLUDES
+        DESTINATION include/moveit_kinematics)
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor)

diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
@@ -9,6 +9,9 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_core
   moveit_msgs
 )
+target_link_libraries(${MOVEIT_LIB_NAME}
+        cached_ik_kinematics_parameters
+        kdl_kinematics_parameters)
 
 if(trac_ik_kinematics_plugin_FOUND)
     include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS})
@@ -23,9 +26,11 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_msgs
 )
 target_link_libraries(${MOVEIT_LIB_NAME}
-    moveit_cached_ik_kinematics_base
-    moveit_kdl_kinematics_plugin
-    moveit_srv_kinematics_plugin)
+        cached_ik_kinematics_parameters
+        moveit_cached_ik_kinematics_base
+        moveit_kdl_kinematics_plugin
+        moveit_srv_kinematics_plugin)
+
 if(trac_ik_kinematics_plugin_FOUND)
     target_link_libraries(${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
@@ -80,15 +80,18 @@ install(
   DESTINATION lib/${PROJECT_NAME})
 
 install(
-  TARGETS
-    moveit_move_group_default_capabilities
-    moveit_move_group_capabilities_base
-  EXPORT export_${PROJECT_NAME}
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
-)
+        TARGETS moveit_move_group_capabilities_base
+        EXPORT export_${PROJECT_NAME}
+        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)