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Port planning_scene to ROS2 #43
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1445fe7
Port planning_scene to ROS2
vmayoral 3181e29
planning_scene, adapt logger to https://github.com/ros-planning/movei…
vmayoral e6f6082
planning_scene - applying clang format 3.9
ahcorde d5bd6ca
planning_scene smart pointer world passed by value
ahcorde ba1e600
Merge branch 'master' into planning-scene
ca02302
clang
acd617d
moveit_core planning_scene - restoring constructor headers
ahcorde 6d35b17
moveit_core planning_scene - Fixing Cmakelists.txt and including test…
ahcorde 15ba426
move_core planning_scene - Logger inside the namespace
ahcorde 9fa297f
moveit_core planning_scene - fixing CMakeLists.txt
ahcorde 01f9e4f
clang and whitespace
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,30 +1,55 @@ | ||
set(MOVEIT_LIB_NAME moveit_planning_scene) | ||
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||
add_library(${MOVEIT_LIB_NAME} src/planning_scene.cpp) | ||
add_library(${MOVEIT_LIB_NAME} SHARED src/planning_scene.cpp) | ||
#TODO: Fix the versioning | ||
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
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||
target_include_directories(${MOVEIT_LIB_NAME} PUBLIC | ||
${octomap_msgs_INCLUDE_DIRS} | ||
${octomap_INCLUDE_DIRS} | ||
) | ||
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||
target_link_libraries(${MOVEIT_LIB_NAME} | ||
moveit_robot_model | ||
moveit_robot_state | ||
moveit_exceptions | ||
moveit_transforms | ||
moveit_collision_detection_fcl | ||
moveit_collision_detection | ||
moveit_kinematic_constraints | ||
moveit_robot_trajectory | ||
moveit_trajectory_processing | ||
${LIBOCTOMAP_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES}) | ||
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||
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS}) | ||
${LIBOCTOMAP_LIBRARIES} | ||
${rclcpp_LIBRARIES} | ||
${rmw_implementation_LIBRARIES} | ||
${urdfdom_LIBRARIES} | ||
${urdfdom_headers_LIBRARIES} | ||
${Boost_LIBRARIES} | ||
${octomap_msgs_LIBRARIES} | ||
${OCTOMAP_LIBRARIES} | ||
) | ||
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||
install(TARGETS ${MOVEIT_LIB_NAME} | ||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) | ||
install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}) | ||
LIBRARY DESTINATION lib | ||
ARCHIVE DESTINATION lib) | ||
install(DIRECTORY include/ DESTINATION include) | ||
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if(CATKIN_ENABLE_TESTING) | ||
if(BUILD_TESTING) | ||
find_package(moveit_resources REQUIRED) | ||
find_package(ament_cmake_gtest REQUIRED) | ||
include_directories(${moveit_resources_INCLUDE_DIRS}) | ||
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catkin_add_gtest(test_planning_scene test/test_planning_scene.cpp) | ||
target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME}) | ||
if(UNIX OR APPLE) | ||
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_BINARY_DIR}/../utils:${CMAKE_CURRENT_BINARY_DIR}/../collision_detection_fcl:${CMAKE_CURRENT_BINARY_DIR}/../collision_detection") | ||
endif() | ||
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||
ament_add_gtest(test_planning_scene test/test_planning_scene.cpp | ||
APPEND_LIBRARY_DIRS "${append_library_dirs}") | ||
target_link_libraries(test_planning_scene | ||
${MOVEIT_LIB_NAME} | ||
${srdfdom_LIBRARIES} | ||
${urdf_LIBRARIES} | ||
${geometric_shapes_LIBRARIES} | ||
${OCTOMAP_LIBRARIES} | ||
) | ||
endif() |
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Hardcoding relative paths is a bad idea.
I would recommend that for every library in this package that is used else ware you set a
<lib_name>_lib_dir
environment variable that can then be used by the testsA good example is the
rcl_lib_dir
I have taken the time to show how it is used below:The example uses rcl_add_custom_gtest but it should work just as well with ament_add_gtest
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If you don't mind I prefer to merge this. And then I will fix them all together. Because we have other merged that use this style. I can open an issue to avoid forgetting it.