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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.12.1)
project(taskit)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
add_compile_options(-lstdc++fs)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
#vrpn_client_ros
moveit_core
moveit_visual_tools
moveit_ros_planning
moveit_ros_planning_interface
pluginlib
geometric_shapes
tf2_ros
tf2_eigen
tf2_geometry_msgs
genmsg
actionlib_msgs
message_generation
)
#find_package(Franka REQUIRED)
#find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED system filesystem date_time thread)
add_message_files(
DIRECTORY msg
FILES
MovementProperties.msg
)
add_service_files(
DIRECTORY srv
FILES
GetObjectLocations.srv
SetObjectLocations.srv
Stow.srv
Grasp.srv
Release.srv
Transit.srv
UpdateEnv.srv
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
#taskit
)
catkin_package(
CATKIN_DEPENDS
#vrpn_client_ros
geometry_msgs
tf2_ros
tf2_geometry_msgs
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
interactive_markers
message_runtime
DEPENDS
#EIGEN3
# DEPENDS system_lib
)
set(TASKIT_LIBRARY_DIR ${CMAKE_CURRENT_SOURCE_DIR}/taskit)
add_definitions(-DROS_ASSERT_ENABLED)
add_subdirectory(taskit)
add_subdirectory(src)