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.project

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    • CMakeLists.txt 2.81 KiB 
    cmake_minimum_required(VERSION 2.8.3)
project(sample_applications)

add_compile_options(-std=c++14)
set(GCC_COVERAGE_COMPILE_FLAGS "-fpermissive")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GCC_COVERAGE_COMPILE_FLAGS} ${GAZEBO_CXX_FLAGS}")

# Find catkin macros and libraries if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) is used, also find other
# catkin packages
find_package(catkin REQUIRED
        COMPONENTS controller_manager
        effort_controllers
        gazebo_ros
        genmsg
        joint_state_controller
        joint_state_publisher
        joint_trajectory_controller
        robot_state_publisher
        roscpp
        std_msgs
        xacro
        moveit_core
        moveit_visual_tools
        moveit_ros_planning
        moveit_ros_planning_interface
        controller_interface
        hardware_interface
        simulation_util)

# System dependencies are found with CMake's conventions
find_package(PkgConfig REQUIRED)

# ################################################################################################################################
# catkin specific configuration ##
# ################################################################################################################################
# The catkin_package macro generates cmake config files for your package Declare things to be passed to dependent projects
catkin_package(CATKIN_DEPENDS
        moveit_core
        moveit_visual_tools
        moveit_ros_planning_interface
        controller_interface
        hardware_interface
        pluginlib
        simulation_util
        DEPENDS
        # system_lib
        )

# ################################################################################################################################
# Build ##
# ################################################################################################################################

# Specify additional locations of header files Your package locations should be listed before other locations
include_directories(${catkin_INCLUDE_DIRS})

add_executable(BasicCartesianPlanner src/BasicCartesianPlanner.cpp)
add_executable(BasicJointSpacePlanner src/BasicJointSpacePlanner.cpp)
add_executable(ObstacleAwarePlanner src/ObstacleAwarePlanner.cpp)
add_executable(GraspPlanner src/GraspPlanner.cpp)
add_executable(${PROJECT_NAME}_pick_place src/pick_place_tutorial.cpp)

set_target_properties(${PROJECT_NAME}_pick_place PROPERTIES OUTPUT_NAME pick_place PREFIX "")

## Add cmake target dependencies of the executable
target_link_libraries(BasicCartesianPlanner ${catkin_LIBRARIES})
target_link_libraries(BasicJointSpacePlanner ${catkin_LIBRARIES})
target_link_libraries(ObstacleAwarePlanner ${catkin_LIBRARIES})
target_link_libraries(GraspPlanner ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_pick_place ${catkin_LIBRARIES})