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fix ament_target_dependencies() deprecation #1072

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15 changes: 7 additions & 8 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@ project(moveit2_tutorials)

# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
find_package(OpenSSL REQUIRED)

moveit_package()

set(THIS_PACKAGE_INCLUDE_DIRS
Expand All @@ -20,14 +22,14 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
moveit_ros_planning
moveit_ros_planning_interface
moveit_ros_trajectory_cache
moveit_servo
moveit_task_constructor_core
moveit_visual_tools
# moveit_servo
# moveit_task_constructor_core
# moveit_visual_tools
pluginlib
rclcpp
rclcpp_action
rviz_visual_tools
tf2_geometry_msgs
# rviz_visual_tools
# tf2_geometry_msgs
tf2_geometry_msgs
tf2_ros
warehouse_ros_sqlite
Expand Down Expand Up @@ -77,9 +79,6 @@ add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
add_subdirectory(doc/tutorials/quickstart_in_rviz)
add_subdirectory(doc/how_to_guides/pick_ik)

ament_export_dependencies(
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

ament_export_include_directories(include)

Expand Down
5 changes: 0 additions & 5 deletions doc/examples/bullet_collision_checker/CMakeLists.txt
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Expand Up @@ -4,10 +4,5 @@ add_executable(bullet_collision_checker_tutorial
target_link_libraries(bullet_collision_checker_tutorial
${interactive_markers_LIBRARIES}
interactivity_utils
${catkin_LIBRARIES}
${Boost_LIBRARIES})

install(TARGETS bullet_collision_checker_tutorial
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
4 changes: 2 additions & 2 deletions doc/examples/collision_environments/CMakeLists.txt
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@@ -1,9 +1,9 @@

add_executable(collision_scene_example
src/collision_scene_example.cpp)
target_include_directories(collision_scene_example
PUBLIC include)
ament_target_dependencies(collision_scene_example
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
target_link_libraries(collision_scene_example PUBLIC rclcpp::rclcpp moveit_ros_planning_interface::moveit_move_group_interface)

install(TARGETS collision_scene_example
ARCHIVE DESTINATION lib
Expand Down
34 changes: 1 addition & 33 deletions doc/examples/creating_moveit_plugins/lerp_motion_planner/CMakeLists.txt
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@@ -1,13 +1,11 @@
include_directories(include)
include_directories(
SYSTEM
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)

add_executable(lerp_example src/lerp_example.cpp)
target_link_libraries(lerp_example
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)

Expand All @@ -17,39 +15,9 @@ add_library(moveit_lerp_planner_plugin
src/lerp_interface.cpp
src/lerp_planning_context.cpp)
set_target_properties(moveit_lerp_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
target_link_libraries(moveit_lerp_planner_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES})
target_link_libraries(moveit_lerp_planner_plugin ${Boost_LIBRARIES})

#############
## Install ##
#############

# Mark executables and/or libraries for installation
install(
TARGETS
moveit_lerp_planner_plugin
ARCHIVE DESTINATION
${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION
${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION
${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark cpp header files for installation
install(
DIRECTORY
include
DESTINATION
${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

# Mark roslaunch files for installation
install(
DIRECTORY
launch
DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#catkin_lint ignore uninstalled_plugin
install(FILES lerp_interface_plugin_description.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/doc/creating_moveit_plugins/lerp_motion_planner/)
19 changes: 0 additions & 19 deletions doc/examples/interactivity/CMakeLists.txt
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Expand Up @@ -6,25 +6,6 @@ add_library(${INTERACTIVITY_LIB_NAME}
src/pose_string.cpp
)

# add_executable(interactivity_tutorial
# src/interactivity_tutorial.cpp
# src/interactive_robot.cpp
# src/imarker.cpp
# src/pose_string.cpp
# )
# target_link_libraries(interactivity_tutorial
# ${catkin_LIBRARIES}
# ${Boost_LIBRARIES}
# ${interactive_markers_LIBRARIES}
# )
#
# add_executable(attached_body_tutorial
# src/attached_body_tutorial.cpp
# src/interactive_robot.cpp
# src/imarker.cpp
# src/pose_string.cpp
# )

target_link_libraries(
${INTERACTIVITY_LIB_NAME}
${catkin_LIBRARIES}
Expand Down
11 changes: 9 additions & 2 deletions doc/examples/motion_planning_api/CMakeLists.txt
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@@ -1,9 +1,16 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)
add_executable(motion_planning_api_tutorial
src/motion_planning_api_tutorial.cpp)
target_include_directories(motion_planning_api_tutorial
PUBLIC include)
ament_target_dependencies(motion_planning_api_tutorial
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
target_link_libraries(motion_planning_api_tutorial PUBLIC
${graph_msgs_TARGETS}
pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader moveit_visual_tools::moveit_visual_tools
moveit_ros_planning_interface::moveit_move_group_interface
)

install(TARGETS motion_planning_api_tutorial
DESTINATION lib/${PROJECT_NAME}
Expand Down
10 changes: 8 additions & 2 deletions doc/examples/motion_planning_pipeline/CMakeLists.txt
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@@ -1,9 +1,15 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)

add_executable(motion_planning_pipeline_tutorial
src/motion_planning_pipeline_tutorial.cpp)
target_include_directories(motion_planning_pipeline_tutorial
PUBLIC include)
ament_target_dependencies(motion_planning_pipeline_tutorial
${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(motion_planning_pipeline_tutorial PUBLIC
${graph_msgs_TARGETS}
pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader
moveit_visual_tools::moveit_visual_tools rviz_visual_tools::rviz_visual_tools)

install(TARGETS motion_planning_pipeline_tutorial
DESTINATION lib/${PROJECT_NAME}
Expand Down
4 changes: 4 additions & 0 deletions doc/examples/motion_planning_python_api/CMakeLists.txt
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@@ -1,3 +1,7 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)

install(PROGRAMS
scripts/motion_planning_python_api_tutorial.py
scripts/motion_planning_python_api_planning_scene.py
Expand Down
8 changes: 6 additions & 2 deletions doc/examples/move_group_interface/CMakeLists.txt
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@@ -1,9 +1,13 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)

add_executable(move_group_interface_tutorial
src/move_group_interface_tutorial.cpp)
target_include_directories(move_group_interface_tutorial
PUBLIC include)
ament_target_dependencies(move_group_interface_tutorial
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
target_link_libraries(move_group_interface_tutorial PUBLIC moveit_ros_move_group::moveit_move_group_capabilities_base
moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools)

install(TARGETS move_group_interface_tutorial
DESTINATION lib/${PROJECT_NAME}
Expand Down
6 changes: 5 additions & 1 deletion doc/examples/moveit_cpp/CMakeLists.txt
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@@ -1,6 +1,10 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)

add_executable(moveit_cpp_tutorial src/moveit_cpp_tutorial.cpp)
target_include_directories(moveit_cpp_tutorial PUBLIC include)
ament_target_dependencies(moveit_cpp_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
target_link_libraries(moveit_cpp_tutorial PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_cpp moveit_visual_tools::moveit_visual_tools)

install(TARGETS moveit_cpp_tutorial
DESTINATION lib/${PROJECT_NAME}
Expand Down
3 changes: 1 addition & 2 deletions doc/examples/planning_scene/CMakeLists.txt
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Expand Up @@ -2,8 +2,7 @@ add_executable(planning_scene_tutorial
src/planning_scene_tutorial.cpp)
target_include_directories(planning_scene_tutorial
PUBLIC include)
ament_target_dependencies(planning_scene_tutorial
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
target_link_libraries(planning_scene_tutorial PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_robot_model_loader)

install(TARGETS planning_scene_tutorial
DESTINATION lib/${PROJECT_NAME}
Expand Down
9 changes: 7 additions & 2 deletions doc/examples/planning_scene_ros_api/CMakeLists.txt
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@@ -1,9 +1,14 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)

add_executable(planning_scene_ros_api_tutorial
src/planning_scene_ros_api_tutorial.cpp)
target_include_directories(planning_scene_ros_api_tutorial
PUBLIC include)
ament_target_dependencies(planning_scene_ros_api_tutorial
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)

target_link_libraries(planning_scene_ros_api_tutorial PRIVATE rclcpp::rclcpp moveit_msgs::moveit_msgs__rosidl_typesupport_cpp rviz_visual_tools::rviz_visual_tools
moveit_core::moveit_planning_scene moveit_ros_planning::moveit_robot_model_loader ${geometry_msgs_TARGETS} moveit_visual_tools::moveit_visual_tools)

install(TARGETS planning_scene_ros_api_tutorial
DESTINATION lib/${PROJECT_NAME}
Expand Down
13 changes: 12 additions & 1 deletion doc/examples/realtime_servo/CMakeLists.txt
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@@ -1,6 +1,17 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_servo REQUIRED)
find_package(rviz_visual_tools REQUIRED)

add_executable(pose_tracking_tutorial src/pose_tracking_tutorial.cpp)
target_include_directories(pose_tracking_tutorial PUBLIC include)
ament_target_dependencies(pose_tracking_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(pose_tracking_tutorial PUBLIC
${graph_msgs_TARGETS} ${moveit_servo_TARGETS} tf2_eigen::tf2_eigen
moveit_ros_planning::moveit_planning_scene_monitor
rviz_visual_tools::rviz_visual_tools
)

install(
TARGETS
Expand Down
2 changes: 1 addition & 1 deletion doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp
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Expand Up @@ -119,7 +119,7 @@ class Door

rclcpp::Node::SharedPtr node_;
Eigen::Vector3d hinge_, center_, dims_;
double angle_, step_, rotation_radius_;
double angle_, rotation_radius_;
rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr collision_object_publisher_;
moveit_msgs::msg::CollisionObject collision_object_;
shape_msgs::msg::SolidPrimitive door_primitive_;
Expand Down
3 changes: 1 addition & 2 deletions doc/examples/robot_model_and_robot_state/CMakeLists.txt
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Expand Up @@ -2,8 +2,7 @@ add_executable(robot_model_and_robot_state_tutorial
src/robot_model_and_robot_state_tutorial.cpp)
target_include_directories(robot_model_and_robot_state_tutorial
PUBLIC include)
ament_target_dependencies(robot_model_and_robot_state_tutorial
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
target_link_libraries(robot_model_and_robot_state_tutorial PUBLIC moveit_ros_planning::moveit_robot_model_loader)

install(TARGETS robot_model_and_robot_state_tutorial
DESTINATION lib/${PROJECT_NAME}
Expand Down
2 changes: 1 addition & 1 deletion doc/examples/tests/CMakeLists.txt
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@@ -1,5 +1,5 @@
if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(tests_tutorial test/tests.cpp)
target_link_libraries(tests_tutorial
${catkin_LIBRARIES} ${Boost_LIBRARIES})
${Boost_LIBRARIES})
endif()
7 changes: 0 additions & 7 deletions doc/examples/visualizing_collisions/CMakeLists.txt
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Expand Up @@ -5,13 +5,6 @@ add_executable(visualizing_collisions_tutorial
target_link_libraries(visualizing_collisions_tutorial
${interactive_markers_LIBRARIES}
interactivity_utils
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)

install(
TARGETS
visualizing_collisions_tutorial
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
9 changes: 7 additions & 2 deletions doc/how_to_guides/kinematics_cost_function/CMakeLists.txt
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@@ -1,9 +1,14 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)

add_executable(kinematics_cost_function_tutorial
src/kinematics_cost_function_tutorial.cpp)
target_include_directories(kinematics_cost_function_tutorial
PUBLIC include)
ament_target_dependencies(kinematics_cost_function_tutorial
${THIS_PACKAGE_INCLUDE_DEPENDS})

target_link_libraries(kinematics_cost_function_tutorial PUBLIC moveit_ros_move_group::moveit_move_group_capabilities_base
moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools)

install(TARGETS kinematics_cost_function_tutorial
DESTINATION lib/${PROJECT_NAME}
Expand Down
7 changes: 6 additions & 1 deletion doc/how_to_guides/parallel_planning/CMakeLists.txt
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@@ -1,6 +1,11 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)
find_package(OpenSSL REQUIRED)

add_executable(parallel_planning_example src/parallel_planning_main.cpp)
target_include_directories(parallel_planning_example PRIVATE include)
ament_target_dependencies(parallel_planning_example ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
target_link_libraries(parallel_planning_example PUBLIC rclcpp::rclcpp moveit_ros_planning::moveit_cpp moveit_visual_tools::moveit_visual_tools moveit_ros_warehouse::moveit_warehouse)

install(TARGETS parallel_planning_example
DESTINATION lib/${PROJECT_NAME}
Expand Down
11 changes: 8 additions & 3 deletions doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt
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@@ -1,14 +1,19 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_task_constructor_core REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)

add_executable(pilz_move_group src/pilz_move_group.cpp)
target_include_directories(pilz_move_group PUBLIC include)
ament_target_dependencies(pilz_move_group ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(pilz_move_group PUBLIC ${moveit_task_constructor_core_TARGETS} rclcpp::rclcpp rclcpp_action::rclcpp_action moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools)

add_executable(pilz_mtc src/pilz_mtc.cpp)
target_include_directories(pilz_mtc PUBLIC include)
ament_target_dependencies(pilz_mtc ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(pilz_mtc PUBLIC rclcpp::rclcpp rclcpp_action::rclcpp_action moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools ${moveit_task_constructor_core_TARGETS})

add_executable(pilz_sequence src/pilz_sequence.cpp)
target_include_directories(pilz_sequence PUBLIC include)
ament_target_dependencies(pilz_sequence ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(pilz_sequence PUBLIC rclcpp::rclcpp rclcpp_action::rclcpp_action moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools)

install(
TARGETS
Expand Down
11 changes: 10 additions & 1 deletion doc/how_to_guides/trajectory_cache/CMakeLists.txt
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@@ -1,5 +1,14 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)
find_package(OpenSSL REQUIRED)

add_executable(trajectory_cache_demo src/trajectory_cache_demo.cpp)
ament_target_dependencies(trajectory_cache_demo ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost moveit_ros_trajectory_cache)
target_link_libraries(trajectory_cache_demo PUBLIC moveit_ros_planning_interface::moveit_move_group_interface

moveit_ros_trajectory_cache::moveit_ros_trajectory_cache_utils_lib moveit_ros_trajectory_cache::moveit_ros_trajectory_cache_features_lib moveit_ros_trajectory_cache::moveit_ros_trajectory_cache_cache_insert_policies_lib moveit_ros_trajectory_cache::moveit_ros_trajectory_cache_lib

moveit_visual_tools::moveit_visual_tools)

install(TARGETS trajectory_cache_demo DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
Expand Down
8 changes: 6 additions & 2 deletions doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt
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@@ -1,9 +1,13 @@
find_package(graph_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(rviz_visual_tools REQUIRED)
add_executable(ompl_constrained_planning
src/ompl_constrained_planning_tutorial.cpp)
target_include_directories(ompl_constrained_planning
PUBLIC include)
ament_target_dependencies(ompl_constrained_planning
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
target_link_libraries(ompl_constrained_planning PUBLIC
${graph_msgs_TARGETS}
moveit_ros_move_group::moveit_move_group_capabilities_base moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools )

install(TARGETS ompl_constrained_planning
DESTINATION lib/${PROJECT_NAME}
Expand Down
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