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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(ur_manipulation)
add_compile_options(-std=c++11)
find_package(Eigen3 REQUIRED)
# Eigen 3.2 (Wily) only provides EIGEN3_INCLUDE_DIR, not EIGEN3_INCLUDE_DIRS
if(NOT EIGEN3_INCLUDE_DIRS)
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()
find_package(catkin REQUIRED
COMPONENTS
interactive_markers
moveit_core
moveit_visual_tools
moveit_ros_planning
moveit_ros_planning_interface
pluginlib
geometric_shapes
pcl_ros
pcl_conversions
rosbag
tf2_ros
tf2_eigen
tf2_geometry_msgs
geometry_msgs
tf
tf_conversions
ur_msgs
std_msgs
)
find_package(Boost REQUIRED system filesystem date_time thread)
set(THIS_PACKAGE_INCLUDE_DIRS
doc/interactivity/include
)
catkin_package(
LIBRARIES
moveit_custom_api
INCLUDE_DIRS
${THIS_PACKAGE_INCLUDE_DIRS}
include
CATKIN_DEPENDS
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
interactive_markers
DEPENDS
EIGEN3
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
include_directories(SYSTEM ${THIS_PACKAGE_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})
include_directories(${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})
add_library(moveit_custom_api
src/moveit_custom_api.cpp
)
add_dependencies(moveit_custom_api ${catkin_EXPORTED_TARGETS})
target_link_libraries(moveit_custom_api ${catkin_LIBRARIES})
add_executable(move_group_interface_tutorial_ur src/move_group_interface_tutorial_ur.cpp)
target_link_libraries(move_group_interface_tutorial_ur ${catkin_LIBRARIES} ${Boost_LIBRARIES})
install(TARGETS move_group_interface_tutorial_ur DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
add_executable(learning src/learning.cpp)
target_link_libraries(learning ${catkin_LIBRARIES} ${Boost_LIBRARIES})
install(TARGETS learning DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
add_executable(seher_demo src/seher_demo.cpp
src/moveit_custom_api.cpp
)
target_link_libraries(seher_demo ${catkin_LIBRARIES} ${Boost_LIBRARIES})