ur_sim/CMakeLists.txt at main · Final-Project-ROS2/ur_sim · GitHub

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cmake_minimum_required(VERSION 3.8)
project(ur_yt_sim)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(xacro REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(trajectory_msgs REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(moveit_core REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(custom_interfaces REQUIRED)
find_package(low_level_planner_executor REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()


add_executable(test_ik src/test_ik.cpp)
ament_target_dependencies(test_ik rclcpp moveit_ros_planning_interface sensor_msgs geometry_msgs)

add_executable(test_ik_real src/test_ik_real.cpp)
ament_target_dependencies(test_ik_real rclcpp moveit_ros_planning_interface sensor_msgs geometry_msgs)

add_executable(moveit_pose_action_server src/moveit_pose_action_server.cpp)
ament_target_dependencies(moveit_pose_action_server
  rclcpp
  rclcpp_action
  geometry_msgs
  moveit_ros_planning_interface
  moveit_core
  tf2_geometry_msgs
  custom_interfaces
)


install(DIRECTORY launch urdf config meshes worlds rviz
  DESTINATION share/${PROJECT_NAME})

install(TARGETS
  test_ik
  DESTINATION lib/${PROJECT_NAME}/
)

install(TARGETS
  test_ik_real
  DESTINATION lib/${PROJECT_NAME}/
)

install(TARGETS
  moveit_pose_action_server
  DESTINATION lib/${PROJECT_NAME}/
)


ament_package()