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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(moveit_task_constructor_capabilities)
find_package(ament_cmake REQUIRED)
find_package(fmt REQUIRED)
find_package(Boost REQUIRED)
find_package(moveit_common REQUIRED)
moveit_package()
find_package(moveit_core REQUIRED)
find_package(moveit_ros_move_group REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_task_constructor_core REQUIRED)
find_package(moveit_task_constructor_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(std_msgs REQUIRED)
add_library(${PROJECT_NAME} SHARED
src/execute_task_solution_capability.cpp
)
ament_target_dependencies(${PROJECT_NAME}
Boost
fmt
rclcpp_action
moveit_core
moveit_ros_move_group
moveit_ros_planning
moveit_task_constructor_core
moveit_task_constructor_msgs
)
install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION lib
)
pluginlib_export_plugin_description_file(moveit_ros_move_group capabilities_plugin_description.xml)
ament_export_dependencies(moveit_core)
ament_export_dependencies(moveit_ros_move_group)
ament_export_dependencies(moveit_ros_planning)
ament_export_dependencies(moveit_task_constructor_core)
ament_export_dependencies(moveit_task_constructor_msgs)
ament_export_dependencies(pluginlib)
ament_export_dependencies(rclcpp_action)
ament_export_dependencies(std_msgs)
ament_package()