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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.22)
project(moveit_drake LANGUAGES CXX)
list(APPEND CMAKE_PREFIX_PATH /opt/drake/lib)
find_package(drake CONFIG REQUIRED PATHS /opt/drake)
find_package(ament_cmake REQUIRED)
# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()
find_package(ament_cmake REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(class_loader REQUIRED)
find_package(generate_parameter_library REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rviz_visual_tools REQUIRED)
find_package(warehouse_ros REQUIRED)
generate_parameter_library(ktopt_moveit_parameters
res/ktopt_moveit_parameters.yaml)
set(THIS_PACKAGE_INCLUDE_DEPENDS
ament_cmake
moveit_core
moveit_ros_planning
moveit_ros_planning_interface
moveit_visual_tools
rclcpp
rviz_visual_tools
warehouse_ros)
include_directories(include)
# ktopt planning plugin
add_library(moveit_ktopt_planner_plugin SHARED src/ktopt_planner_manager.cpp
src/ktopt_planning_context.cpp)
ament_target_dependencies(moveit_ktopt_planner_plugin rclcpp pluginlib
moveit_core moveit_msgs EIGEN3)
target_link_libraries(moveit_ktopt_planner_plugin drake::drake
ktopt_moveit_parameters)
# Ensure that the plugin finds libdrake.so at runtime
set_target_properties(
moveit_ktopt_planner_plugin PROPERTIES INSTALL_RPATH "/opt/drake/lib"
BUILD_RPATH "/opt/drake/lib")
pluginlib_export_plugin_description_file(moveit_core
ktopt_interface_plugin_description.xml)
install(
TARGETS moveit_ktopt_planner_plugin ktopt_moveit_parameters
EXPORT moveit_ktopt_planner_pluginTargets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES
DESTINATION include/ktopt_interface)
ament_export_targets(moveit_ktopt_planner_pluginTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(moveit_core drake::drake generate_parameter_library)
add_subdirectory(demo)
ament_package()