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mosfet80AndyZe
mosfet80
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AndyZe
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fix ament_target_deprecation
fix ament_target_dependencies deprecation Update CMakeLists.txt Update CMakeLists.txt Update planning_scene_ros_api_tutorial.cpp Update CMakeLists.txt Update doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp Co-authored-by: AndyZe <[email protected]> Update CMakeLists.txt Update CMakeLists.txt
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-105
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26 files changed

+124
-105
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‎CMakeLists.txt‎

Lines changed: 7 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -3,6 +3,8 @@ project(moveit2_tutorials)
33

44
# Common cmake code applied to all moveit packages
55
find_package(moveit_common REQUIRED)
6+
find_package(OpenSSL REQUIRED)
7+
68
moveit_package()
79

810
set(THIS_PACKAGE_INCLUDE_DIRS
@@ -20,14 +22,14 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
2022
moveit_ros_planning
2123
moveit_ros_planning_interface
2224
moveit_ros_trajectory_cache
23-
moveit_servo
24-
moveit_task_constructor_core
25-
moveit_visual_tools
25+
# moveit_servo
26+
# moveit_task_constructor_core
27+
# moveit_visual_tools
2628
pluginlib
2729
rclcpp
2830
rclcpp_action
29-
rviz_visual_tools
30-
tf2_geometry_msgs
31+
# rviz_visual_tools
32+
# tf2_geometry_msgs
3133
tf2_geometry_msgs
3234
tf2_ros
3335
warehouse_ros_sqlite
@@ -77,9 +79,6 @@ add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
7779
add_subdirectory(doc/tutorials/quickstart_in_rviz)
7880
add_subdirectory(doc/how_to_guides/pick_ik)
7981

80-
ament_export_dependencies(
81-
${THIS_PACKAGE_INCLUDE_DEPENDS}
82-
)
8382

8483
ament_export_include_directories(include)
8584

‎doc/examples/bullet_collision_checker/CMakeLists.txt‎

Lines changed: 0 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -4,10 +4,5 @@ add_executable(bullet_collision_checker_tutorial
44
target_link_libraries(bullet_collision_checker_tutorial
55
${interactive_markers_LIBRARIES}
66
interactivity_utils
7-
${catkin_LIBRARIES}
87
${Boost_LIBRARIES})
98

10-
install(TARGETS bullet_collision_checker_tutorial
11-
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
12-
13-
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

‎doc/examples/collision_environments/CMakeLists.txt‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
1+
12
add_executable(collision_scene_example
23
src/collision_scene_example.cpp)
34
target_include_directories(collision_scene_example
45
PUBLIC include)
5-
ament_target_dependencies(collision_scene_example
6-
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
6+
target_link_libraries(collision_scene_example PUBLIC rclcpp::rclcpp moveit_ros_planning_interface::moveit_move_group_interface)
77

88
install(TARGETS collision_scene_example
99
ARCHIVE DESTINATION lib

‎doc/examples/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt‎

Lines changed: 1 addition & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,11 @@
11
include_directories(include)
22
include_directories(
33
SYSTEM
4-
${catkin_INCLUDE_DIRS}
54
${Boost_INCLUDE_DIRS}
65
)
76

87
add_executable(lerp_example src/lerp_example.cpp)
98
target_link_libraries(lerp_example
10-
${catkin_LIBRARIES}
119
${Boost_LIBRARIES}
1210
)
1311

@@ -17,39 +15,9 @@ add_library(moveit_lerp_planner_plugin
1715
src/lerp_interface.cpp
1816
src/lerp_planning_context.cpp)
1917
set_target_properties(moveit_lerp_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
20-
target_link_libraries(moveit_lerp_planner_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES})
18+
target_link_libraries(moveit_lerp_planner_plugin ${Boost_LIBRARIES})
2119

2220
#############
2321
## Install ##
2422
#############
2523

26-
# Mark executables and/or libraries for installation
27-
install(
28-
TARGETS
29-
moveit_lerp_planner_plugin
30-
ARCHIVE DESTINATION
31-
${CATKIN_PACKAGE_LIB_DESTINATION}
32-
LIBRARY DESTINATION
33-
${CATKIN_PACKAGE_LIB_DESTINATION}
34-
RUNTIME DESTINATION
35-
${CATKIN_PACKAGE_BIN_DESTINATION}
36-
)
37-
38-
# Mark cpp header files for installation
39-
install(
40-
DIRECTORY
41-
include
42-
DESTINATION
43-
${CATKIN_PACKAGE_INCLUDE_DESTINATION}
44-
)
45-
46-
# Mark roslaunch files for installation
47-
install(
48-
DIRECTORY
49-
launch
50-
DESTINATION
51-
${CATKIN_PACKAGE_SHARE_DESTINATION}
52-
)
53-
#catkin_lint ignore uninstalled_plugin
54-
install(FILES lerp_interface_plugin_description.xml
55-
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/doc/creating_moveit_plugins/lerp_motion_planner/)

‎doc/examples/interactivity/CMakeLists.txt‎

Lines changed: 0 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -6,25 +6,6 @@ add_library(${INTERACTIVITY_LIB_NAME}
66
src/pose_string.cpp
77
)
88

9-
# add_executable(interactivity_tutorial
10-
# src/interactivity_tutorial.cpp
11-
# src/interactive_robot.cpp
12-
# src/imarker.cpp
13-
# src/pose_string.cpp
14-
# )
15-
# target_link_libraries(interactivity_tutorial
16-
# ${catkin_LIBRARIES}
17-
# ${Boost_LIBRARIES}
18-
# ${interactive_markers_LIBRARIES}
19-
# )
20-
#
21-
# add_executable(attached_body_tutorial
22-
# src/attached_body_tutorial.cpp
23-
# src/interactive_robot.cpp
24-
# src/imarker.cpp
25-
# src/pose_string.cpp
26-
# )
27-
289
target_link_libraries(
2910
${INTERACTIVITY_LIB_NAME}
3011
${catkin_LIBRARIES}

‎doc/examples/motion_planning_api/CMakeLists.txt‎

Lines changed: 9 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,16 @@
1+
find_package(graph_msgs REQUIRED)
2+
find_package(moveit_ros_planning REQUIRED)
3+
find_package(moveit_visual_tools REQUIRED)
4+
find_package(rviz_visual_tools REQUIRED)
15
add_executable(motion_planning_api_tutorial
26
src/motion_planning_api_tutorial.cpp)
37
target_include_directories(motion_planning_api_tutorial
48
PUBLIC include)
5-
ament_target_dependencies(motion_planning_api_tutorial
6-
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
9+
target_link_libraries(motion_planning_api_tutorial PUBLIC
10+
${graph_msgs_TARGETS}
11+
pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader moveit_visual_tools::moveit_visual_tools
12+
moveit_ros_planning_interface::moveit_move_group_interface
13+
)
714

815
install(TARGETS motion_planning_api_tutorial
916
DESTINATION lib/${PROJECT_NAME}

‎doc/examples/motion_planning_pipeline/CMakeLists.txt‎

Lines changed: 8 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,15 @@
1+
find_package(graph_msgs REQUIRED)
2+
find_package(moveit_visual_tools REQUIRED)
3+
find_package(rviz_visual_tools REQUIRED)
4+
15
add_executable(motion_planning_pipeline_tutorial
26
src/motion_planning_pipeline_tutorial.cpp)
37
target_include_directories(motion_planning_pipeline_tutorial
48
PUBLIC include)
5-
ament_target_dependencies(motion_planning_pipeline_tutorial
6-
${THIS_PACKAGE_INCLUDE_DEPENDS})
9+
target_link_libraries(motion_planning_pipeline_tutorial PUBLIC
10+
${graph_msgs_TARGETS}
11+
pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader
12+
moveit_visual_tools::moveit_visual_tools rviz_visual_tools::rviz_visual_tools)
713

814
install(TARGETS motion_planning_pipeline_tutorial
915
DESTINATION lib/${PROJECT_NAME}

‎doc/examples/motion_planning_python_api/CMakeLists.txt‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,7 @@
1+
find_package(graph_msgs REQUIRED)
2+
find_package(moveit_visual_tools REQUIRED)
3+
find_package(rviz_visual_tools REQUIRED)
4+
15
install(PROGRAMS
26
scripts/motion_planning_python_api_tutorial.py
37
scripts/motion_planning_python_api_planning_scene.py

‎doc/examples/move_group_interface/CMakeLists.txt‎

Lines changed: 6 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,13 @@
1+
find_package(graph_msgs REQUIRED)
2+
find_package(moveit_visual_tools REQUIRED)
3+
find_package(rviz_visual_tools REQUIRED)
4+
15
add_executable(move_group_interface_tutorial
26
src/move_group_interface_tutorial.cpp)
37
target_include_directories(move_group_interface_tutorial
48
PUBLIC include)
5-
ament_target_dependencies(move_group_interface_tutorial
6-
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
9+
target_link_libraries(move_group_interface_tutorial PUBLIC moveit_ros_move_group::moveit_move_group_capabilities_base
10+
moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools)
711

812
install(TARGETS move_group_interface_tutorial
913
DESTINATION lib/${PROJECT_NAME}

‎doc/examples/moveit_cpp/CMakeLists.txt‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,10 @@
1+
find_package(graph_msgs REQUIRED)
2+
find_package(moveit_visual_tools REQUIRED)
3+
find_package(rviz_visual_tools REQUIRED)
4+
15
add_executable(moveit_cpp_tutorial src/moveit_cpp_tutorial.cpp)
26
target_include_directories(moveit_cpp_tutorial PUBLIC include)
3-
ament_target_dependencies(moveit_cpp_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
7+
target_link_libraries(moveit_cpp_tutorial PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_cpp moveit_visual_tools::moveit_visual_tools)
48

59
install(TARGETS moveit_cpp_tutorial
610
DESTINATION lib/${PROJECT_NAME}

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