Update CMakeLists.txt

CMakeLists.txt

@@ -10,6 +10,9 @@ add_compile_options(-std=c++11)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   gazebo_ros
+  moveit_core
+  moveit_visual_tools
+  moveit_ros_planning_interface
 )
 
 ## System dependencies are found with CMake's conventions
@@ -104,7 +107,12 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
  #INCLUDE_DIRS include
  #LIBRARIES robot_models
- #CATKIN_DEPENDS gazebo_ros
+ CATKIN_DEPENDS
+    gazebo_ros
+    gazebo_ros
+    moveit_core
+    moveit_visual_tools
+    moveit_ros_planning_interface
 # DEPENDS system_lib
 )
 
@@ -143,6 +151,7 @@ include_directories(
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
 add_executable(appmod
+
         src/appmod.cpp
         src/datalink/abstractobject.h
         src/datalink/graspobject.h
@@ -159,6 +168,23 @@ add_executable(appmod
         )
 
 
+add_executable(testappm
+                                                           src/testappm.cpp
+                                                           src/datalink/abstractobject.h
+                                                           src/datalink/graspobject.h
+                                                           src/datalink/hand.h
+                                                           src/datalink/humanspace.h
+                                                           src/datalink/joint.h
+                                                           src/datalink/obstacle.h
+                                                           src/datalink/robot.h
+                                                           src/datalink/robotfpe.h
+                                                           src/datalink/world.h
+                                                           src/datalink/worldobject.h
+                                                           src/datalink/quaternion.h
+
+        )
+
+
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -170,6 +196,8 @@ add_executable(appmod
 
 
 ## Specify libraries to link a library or executable target against
+
+target_link_libraries(testappm ${catkin_LIBRARIES} )
 target_link_libraries(appmod ${catkin_LIBRARIES} )
 #add_dependencies(robot_models_node ${catkin_LIBRARIES})