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Port planning_scene to ROS2 #43
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Original file line number | Diff line number | Diff line change |
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@@ -1,7 +1,8 @@ | ||
set(MOVEIT_LIB_NAME moveit_planning_scene) | ||
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add_library(${MOVEIT_LIB_NAME} src/planning_scene.cpp) | ||
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
#TODO: Fix the versioning | ||
# set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
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target_link_libraries(${MOVEIT_LIB_NAME} | ||
moveit_robot_model | ||
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@@ -12,19 +13,18 @@ target_link_libraries(${MOVEIT_LIB_NAME} | |
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}) | ||
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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 ${CATKIN_GLOBAL_INCLUDE_DESTINATION}) | ||
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if(CATKIN_ENABLE_TESTING) | ||
find_package(moveit_resources REQUIRED) | ||
include_directories(${moveit_resources_INCLUDE_DIRS}) | ||
LIBRARY DESTINATION lib | ||
ARCHIVE DESTINATION lib) | ||
install(DIRECTORY include/ DESTINATION include) | ||
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catkin_add_gtest(test_planning_scene test/test_planning_scene.cpp) | ||
target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME}) | ||
endif() | ||
#TODO: Fix this so it can be built with colcon | ||
# if(BUILD_TESTING) | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. re-enable tests please There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Tests failing. Let's try to solve AcutronicRobotics#13 first please. We should be able to re-enable all of them afterwards. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. You all fixed this somewhere in AcutronicRobotics#71, is that correct? There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Yes however they should be submitted here (and we should rebase this code as well). @ahcorde started doing it iteratively while we review the changes. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. +1 to restoring tests before merge |
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# find_package(moveit_resources REQUIRED) | ||
# include_directories(${moveit_resources_INCLUDE_DIRS}) | ||
# | ||
# ament_add_gtest(test_planning_scene test/test_planning_scene.cpp) | ||
# target_link_libraries(test_planning_scene ${MOVEIT_LIB_NAME}) | ||
# endif() |
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This was added in moveit/moveit#273. Maybe @v4hn can confirm this but perhaps we can take the same approach as the urdf_parser