62 lines
1.6 KiB
CMake
62 lines
1.6 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(franka_moveit_interface)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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option(CHECK_TIDY "Adds clang-tidy tests" OFF)
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# find dependencies
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find_package(Eigen3 REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(moveit REQUIRED)
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find_package(moveit_msgs REQUIRED)
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find_package(moveit_visual_tools REQUIRED)
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find_package(moveit_ros_planning_interface)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(tf2)
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find_package(tf2_ros)
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add_executable(franka_moveit_interface src/moveit_interface.cpp)
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ament_target_dependencies(
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franka_moveit_interface
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rclcpp
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moveit
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moveit_msgs
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moveit_visual_tools
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moveit_ros_planning_interface
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std_msgs
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geometry_msgs
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tf2
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tf2_ros
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)
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install(
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TARGETS franka_moveit_interface
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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