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mosfet80mosfet80
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fix ament_target_dependencies
fix ament_target_dependencies . . . . .
1 parent 848c062 commit 41379d0

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38 files changed

+621
-215
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38 files changed

+621
-215
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‎.kdev4/moveit2.kdev4‎

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[Buildset]
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BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x0e\x00m\x00o\x00v\x00e\x00i\x00t\x002)
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[Project]
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VersionControlSupport=kdevgit

‎moveit2.kdev4‎

Lines changed: 4 additions & 0 deletions
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@@ -0,0 +1,4 @@
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[Project]
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CreatedFrom=
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Manager=KDevCustomBuildSystem
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Name=moveit2

‎moveit_core/transforms/CMakeLists.txt‎

Lines changed: 17 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1,20 +1,27 @@
1+
find_package(moveit_core REQUIRED)
12
add_library(moveit_transforms SHARED src/transforms.cpp)
23
target_include_directories(
34
moveit_transforms
45
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
56
$<INSTALL_INTERFACE:include/moveit_core>)
6-
target_link_libraries(moveit_transforms moveit_macros moveit_utils)
7+
target_link_libraries(moveit_transforms
8+
PRIVATE
9+
moveit_macros moveit_utils
10+
PUBLIC
11+
geometric_shapes::geometric_shapes
12+
moveit_core::moveit_macros
13+
rclcpp::rclcpp
14+
rmw_implementation::rmw_implementation
15+
tf2_eigen::tf2_eigen
16+
urdfdom::urdfdom_model
17+
urdfdom::urdfdom_sensor
18+
urdfdom::urdfdom_world
19+
urdfdom_headers::urdfdom_headers
20+
)
21+
22+
723
set_target_properties(moveit_transforms PROPERTIES VERSION
824
"${${PROJECT_NAME}_VERSION}")
9-
ament_target_dependencies(
10-
moveit_transforms
11-
geometric_shapes
12-
tf2_eigen
13-
rclcpp
14-
rmw_implementation
15-
urdfdom
16-
urdfdom_headers
17-
Boost)
1825

1926
install(DIRECTORY include/ DESTINATION include/moveit_core)
2027

‎moveit_core/utils/CMakeLists.txt‎

Lines changed: 7 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -3,8 +3,11 @@ add_library(moveit_utils SHARED src/lexical_casts.cpp src/message_checks.cpp
33
target_include_directories(
44
moveit_utils PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
55
$<INSTALL_INTERFACE:include/moveit_core>)
6-
ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp fmt)
7-
target_link_libraries(moveit_utils rsl::rsl)
6+
target_link_libraries(moveit_utils
7+
${moveit_msgs_TARGETS}
8+
ament_index_cpp::ament_index_cpp
9+
pluginlib::pluginlib
10+
rsl::rsl)
811
set_target_properties(moveit_utils PROPERTIES VERSION
912
"${${PROJECT_NAME}_VERSION}")
1013

@@ -18,18 +21,9 @@ target_include_directories(
1821
$<INSTALL_INTERFACE:include/moveit_core>)
1922
target_link_libraries(moveit_test_utils moveit_robot_model
2023
moveit_kinematics_base rsl::rsl)
21-
ament_target_dependencies(
24+
target_link_libraries(
2225
moveit_test_utils
23-
ament_index_cpp
24-
Boost
25-
geometry_msgs
26-
urdf
27-
pluginlib
28-
srdfdom
29-
urdfdom
30-
urdfdom_headers
31-
rclcpp
32-
fmt)
26+
moveit_utils)
3327
set_target_properties(moveit_test_utils PROPERTIES VERSION
3428
"${${PROJECT_NAME}_VERSION}")
3529

‎moveit_planners/chomp/chomp_interface/CMakeLists.txt‎

Lines changed: 32 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -26,9 +26,38 @@ ament_target_dependencies(moveit_chomp_interface
2626
${THIS_PACKAGE_INCLUDE_DEPENDS})
2727

2828
add_library(moveit_chomp_planner_plugin SHARED src/chomp_plugin.cpp)
29-
ament_target_dependencies(moveit_chomp_planner_plugin
30-
${THIS_PACKAGE_INCLUDE_DEPENDS})
31-
target_link_libraries(moveit_chomp_planner_plugin moveit_chomp_interface)
29+
30+
target_link_libraries(moveit_chomp_planner_plugin
31+
PRIVATE
32+
moveit_chomp_interface
33+
PUBLIC
34+
chomp_motion_planner::chomp_motion_planner
35+
moveit_core::moveit_collision_detection
36+
moveit_core::moveit_collision_detection_bullet
37+
moveit_core::moveit_collision_detection_fcl
38+
moveit_core::moveit_collision_distance_field
39+
moveit_core::moveit_constraint_samplers
40+
moveit_core::moveit_distance_field
41+
moveit_core::moveit_dynamics_solver
42+
moveit_core::moveit_exceptions
43+
moveit_core::moveit_kinematic_constraints
44+
moveit_core::moveit_kinematics_base
45+
moveit_core::moveit_kinematics_metrics
46+
moveit_core::moveit_macros
47+
moveit_core::moveit_planning_interface
48+
moveit_core::moveit_planning_scene
49+
moveit_core::moveit_robot_model
50+
moveit_core::moveit_robot_state
51+
moveit_core::moveit_robot_trajectory
52+
moveit_core::moveit_smoothing_base
53+
moveit_core::moveit_test_utils
54+
moveit_core::moveit_trajectory_processing
55+
moveit_core::moveit_transforms
56+
moveit_core::moveit_utils
57+
pluginlib::pluginlib
58+
rclcpp::rclcpp
59+
rsl::rsl
60+
)
3261

3362
install(
3463
TARGETS moveit_chomp_interface moveit_chomp_planner_plugin

‎moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt‎

Lines changed: 28 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -23,8 +23,34 @@ add_library(
2323
src/chomp_optimizer.cpp src/chomp_planner.cpp)
2424
set_target_properties(chomp_motion_planner
2525
PROPERTIES VERSION "${chomp_motion_planner_VERSION}")
26-
ament_target_dependencies(chomp_motion_planner ${THIS_PACKAGE_INCLUDE_DEPENDS})
27-
26+
target_link_libraries(chomp_motion_planner PUBLIC
27+
${trajectory_msgs_TARGETS}
28+
${visualization_msgs_TARGETS}
29+
moveit_core::moveit_collision_detection
30+
moveit_core::moveit_collision_detection_bullet
31+
moveit_core::moveit_collision_detection_fcl
32+
moveit_core::moveit_collision_distance_field
33+
moveit_core::moveit_constraint_samplers
34+
moveit_core::moveit_distance_field
35+
moveit_core::moveit_dynamics_solver
36+
moveit_core::moveit_exceptions
37+
moveit_core::moveit_kinematic_constraints
38+
moveit_core::moveit_kinematics_base
39+
moveit_core::moveit_kinematics_metrics
40+
moveit_core::moveit_macros
41+
moveit_core::moveit_planning_interface
42+
moveit_core::moveit_planning_scene
43+
moveit_core::moveit_robot_model
44+
moveit_core::moveit_robot_state
45+
moveit_core::moveit_robot_trajectory
46+
moveit_core::moveit_smoothing_base
47+
moveit_core::moveit_test_utils
48+
moveit_core::moveit_trajectory_processing
49+
moveit_core::moveit_transforms
50+
moveit_core::moveit_utils
51+
rclcpp::rclcpp
52+
rsl::rsl
53+
)
2854
install(
2955
TARGETS chomp_motion_planner
3056
EXPORT chomp_motion_plannerTargets
@@ -37,5 +63,3 @@ install(DIRECTORY include/ DESTINATION include/chomp_motion_planner)
3763

3864
ament_export_targets(chomp_motion_plannerTargets HAS_LIBRARY_TARGET)
3965
ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS})
40-
41-
ament_package()

‎moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt‎

Lines changed: 28 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -29,15 +29,34 @@ add_library(
2929
src/robotconfiguration.cpp src/sequence.cpp src/xml_testdata_loader.cpp)
3030

3131
# Specify libraries to link a library or executable target against
32-
ament_target_dependencies(
33-
pilz_industrial_motion_planner_testutils
34-
Boost
35-
Eigen3
36-
eigen3_cmake_module
37-
rclcpp
38-
moveit_core
39-
moveit_msgs
40-
tf2_eigen)
32+
target_link_libraries(pilz_industrial_motion_planner_testutils PUBLIC
33+
${moveit_msgs_TARGETS}
34+
moveit_core::moveit_collision_detection
35+
moveit_core::moveit_collision_detection_bullet
36+
moveit_core::moveit_collision_detection_fcl
37+
moveit_core::moveit_collision_distance_field
38+
moveit_core::moveit_constraint_samplers
39+
moveit_core::moveit_distance_field
40+
moveit_core::moveit_dynamics_solver
41+
moveit_core::moveit_exceptions
42+
moveit_core::moveit_kinematic_constraints
43+
moveit_core::moveit_kinematics_base
44+
moveit_core::moveit_kinematics_metrics
45+
moveit_core::moveit_macros
46+
moveit_core::moveit_planning_interface
47+
moveit_core::moveit_planning_scene
48+
moveit_core::moveit_robot_model
49+
moveit_core::moveit_robot_state
50+
moveit_core::moveit_robot_trajectory
51+
moveit_core::moveit_smoothing_base
52+
moveit_core::moveit_test_utils
53+
moveit_core::moveit_trajectory_processing
54+
moveit_core::moveit_transforms
55+
moveit_core::moveit_utils
56+
rclcpp::rclcpp
57+
tf2_eigen::tf2_eigen
58+
)
59+
4160

4261
# ##############################################################################
4362
# Install ##
@@ -58,5 +77,3 @@ install(DIRECTORY include/
5877
ament_export_targets(pilz_industrial_motion_planner_testutilsTargets
5978
HAS_LIBRARY_TARGET)
6079
ament_export_dependencies(rclcpp moveit_core moveit_msgs tf2_eigen)
61-
62-
ament_package()

‎moveit_planners/stomp/CMakeLists.txt‎

Lines changed: 30 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -22,10 +22,36 @@ include_directories(include)
2222
# Planner Plugin
2323
add_library(stomp_moveit_plugin SHARED src/stomp_moveit_planner_plugin.cpp
2424
src/stomp_moveit_planning_context.cpp)
25-
ament_target_dependencies(stomp_moveit_plugin moveit_core std_msgs tf2_eigen
26-
visualization_msgs)
27-
target_link_libraries(stomp_moveit_plugin stomp::stomp stomp_moveit_parameters
28-
rsl::rsl)
25+
target_link_libraries(stomp_moveit_plugin PUBLIC
26+
${std_msgs_TARGETS}
27+
${visualization_msgs_TARGETS}
28+
moveit_core::moveit_collision_detection
29+
moveit_core::moveit_collision_detection_bullet
30+
moveit_core::moveit_collision_detection_fcl
31+
moveit_core::moveit_collision_distance_field
32+
moveit_core::moveit_constraint_samplers
33+
moveit_core::moveit_distance_field
34+
moveit_core::moveit_dynamics_solver
35+
moveit_core::moveit_exceptions
36+
moveit_core::moveit_kinematic_constraints
37+
moveit_core::moveit_kinematics_base
38+
moveit_core::moveit_kinematics_metrics
39+
moveit_core::moveit_macros
40+
moveit_core::moveit_planning_interface
41+
moveit_core::moveit_planning_scene
42+
moveit_core::moveit_robot_model
43+
moveit_core::moveit_robot_state
44+
moveit_core::moveit_robot_trajectory
45+
moveit_core::moveit_smoothing_base
46+
moveit_core::moveit_test_utils
47+
moveit_core::moveit_trajectory_processing
48+
moveit_core::moveit_transforms
49+
moveit_core::moveit_utils
50+
tf2_eigen::tf2_eigen
51+
rsl::rsl
52+
stomp::stomp
53+
stomp_moveit_parameters
54+
)
2955

3056
pluginlib_export_plugin_description_file(moveit_core
3157
stomp_moveit_plugin_description.xml)
@@ -46,4 +72,3 @@ if(BUILD_TESTING)
4672
add_subdirectory(test)
4773
endif()
4874

49-
ament_package()

‎moveit_planners/stomp/test/CMakeLists.txt‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
11
find_package(ament_cmake_gtest REQUIRED)
22
ament_add_gtest(test_noise_generator test_noise_generator.cpp)
3-
ament_target_dependencies(test_noise_generator tf2_eigen)
4-
target_link_libraries(test_noise_generator stomp::stomp rsl::rsl)
3+
4+
target_link_libraries(test_noise_generator stomp::stomp rsl::rsl moveit_core::moveit_planning_scene)
55

66
ament_add_gtest(test_cost_functions test_cost_functions.cpp)
7-
ament_target_dependencies(test_cost_functions moveit_core)
8-
target_link_libraries(test_cost_functions stomp::stomp rsl::rsl)
7+
8+
target_link_libraries(test_cost_functions stomp::stomp rsl::rsl moveit_core::moveit_planning_scene)

‎moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt‎

Lines changed: 31 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -43,18 +43,38 @@ if(NOT WIN32)
4343
target_compile_options(prbt_manipulator_moveit_ikfast_plugin
4444
PRIVATE -Wno-unused-variable)
4545
endif()
46-
ament_target_dependencies(
47-
prbt_manipulator_moveit_ikfast_plugin
48-
moveit_core
49-
pluginlib
50-
rclcpp
51-
tf2_kdl
52-
tf2_eigen
53-
tf2_eigen_kdl
54-
tf2_geometry_msgs)
5546

56-
target_link_libraries(prbt_manipulator_moveit_ikfast_plugin
57-
prbt_ikfast_kinematics_parameters)
47+
target_link_libraries(prbt_manipulator_moveit_ikfast_plugin PUBLIC
48+
prbt_ikfast_kinematics_parameters
49+
moveit_core::moveit_collision_detection
50+
moveit_core::moveit_collision_detection_bullet
51+
moveit_core::moveit_collision_detection_fcl
52+
moveit_core::moveit_collision_distance_field
53+
moveit_core::moveit_constraint_samplers
54+
moveit_core::moveit_distance_field
55+
moveit_core::moveit_dynamics_solver
56+
moveit_core::moveit_exceptions
57+
moveit_core::moveit_kinematic_constraints
58+
moveit_core::moveit_kinematics_base
59+
moveit_core::moveit_kinematics_metrics
60+
moveit_core::moveit_macros
61+
moveit_core::moveit_planning_interface
62+
moveit_core::moveit_planning_scene
63+
moveit_core::moveit_robot_model
64+
moveit_core::moveit_robot_state
65+
moveit_core::moveit_robot_trajectory
66+
moveit_core::moveit_smoothing_base
67+
moveit_core::moveit_test_utils
68+
moveit_core::moveit_trajectory_processing
69+
moveit_core::moveit_transforms
70+
moveit_core::moveit_utils
71+
pluginlib::pluginlib
72+
rclcpp::rclcpp
73+
tf2_eigen::tf2_eigen
74+
tf2_eigen_kdl::tf2_eigen_kdl
75+
tf2_geometry_msgs::tf2_geometry_msgs
76+
tf2_kdl::tf2_kdl
77+
)
5878

5979
pluginlib_export_plugin_description_file(
6080
moveit_core prbt_manipulator_moveit_ikfast_plugin_description.xml)
@@ -74,4 +94,3 @@ ament_export_targets(moveit_resources_prbt_ikfast_manipulator_pluginTargets
7494
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}
7595
generate_parameter_library)
7696

77-
ament_package()

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