58 lines
1.4 KiB
CMake
58 lines
1.4 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(ign_moveit2_examples)
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# Default to C11
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 11)
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endif()
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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# Compiler options
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Testing and linting
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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# Install C++ examples
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set(EXAMPLES_CPP_DIR examples/cpp)
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# Example 0 - Follow target
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set(EXECUTABLE_0 ex_follow_target)
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add_executable(${EXECUTABLE_0} ${EXAMPLES_CPP_DIR}/${EXECUTABLE_0}.cpp)
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ament_target_dependencies(${EXECUTABLE_0}
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rclcpp
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geometry_msgs
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moveit_ros_planning_interface
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)
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install(TARGETS
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${EXECUTABLE_0}
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DESTINATION lib/${PROJECT_NAME}
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)
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# Install Python examples
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set(EXAMPLES_PY_DIR examples/py)
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install(PROGRAMS
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${EXAMPLES_PY_DIR}/ex_follow_target.py
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${EXAMPLES_PY_DIR}/ex_throw_object.py
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DESTINATION lib/${PROJECT_NAME}
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)
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# Install directories
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install(DIRECTORY launch rviz worlds DESTINATION share/${PROJECT_NAME})
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# Setup the project
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ament_package()
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