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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(behaviortree_mtc LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(catkin REQUIRED COMPONENTS
behaviortree_cpp
geometry_msgs
moveit_msgs
moveit_task_constructor_core
moveit_ros_planning_interface
)
catkin_package(
LIBRARIES
${PROJECT_NAME}
INCLUDE_DIRS
include
CATKIN_DEPENDS
behaviortree_cpp
geometry_msgs
moveit_msgs
moveit_task_constructor_core
moveit_ros_planning_interface
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME}
# utilities
src/geometry_msgs.cpp
# mtc
src/add_object_to_planning_scene.cpp
src/create_mtc_compute_ik.cpp
src/create_mtc_connect.cpp
src/create_mtc_current_state.cpp
src/create_mtc_modify_planning_scene.cpp
src/create_mtc_move_relative.cpp
src/create_mtc_move_to.cpp
src/create_mtc_pipeline_planner.cpp
src/create_mtc_cartesian_path.cpp
src/create_mtc_generate_grasp_pose.cpp
src/create_mtc_generate_place_pose.cpp
src/create_mtc_joint_interpolation.cpp
src/create_mtc_serial_container.cpp
src/create_planning_scene_interface.cpp
src/get_mtc_raw_stage.cpp
src/initialize_mtc_task.cpp
src/moveit_msgs.cpp
src/plan_mtc_task.cpp
)
add_executable(bt_allow_collisions examples/bt_allow_collisions.cpp)
add_executable(bt_compute_ik examples/bt_compute_ik.cpp)
add_executable(bt_create_collision_object examples/bt_create_collision_object.cpp)
add_executable(bt_demo examples/bt_demo.cpp)
add_executable(bt_generate_place_pose examples/bt_generate_place_pose.cpp)
add_executable(bt_joint_interpolation_solver examples/bt_joint_interpolation_solver.cpp)
add_executable(bt_move_relative examples/bt_move_relative.cpp)
add_executable(bt_move_to examples/bt_move_to.cpp)
add_executable(bt_pick_place examples/bt_pick_place.cpp)
add_executable(bt_serial_container examples/bt_serial_container.cpp)
add_executable(generate_xml_model src/generate_xml_model.cpp)
target_include_directories(bt_allow_collisions PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_allow_collisions ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_compute_ik PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_compute_ik ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_create_collision_object PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_create_collision_object ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_demo PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_demo ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_generate_place_pose PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_generate_place_pose ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_joint_interpolation_solver PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_joint_interpolation_solver ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_move_relative PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_move_relative ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_pick_place PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_pick_place ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_move_to PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_move_to ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(bt_serial_container PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(bt_serial_container ${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(generate_xml_model PRIVATE ${catkin_INCLUDE_DIRS} include)
target_link_libraries(generate_xml_model ${PROJECT_NAME} ${catkin_LIBRARIES})
add_subdirectory(tests)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(TARGETS
${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)