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Fix linking error with cached_ik_kinematics_plugin #2292

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Merged
merged 4 commits into from
Aug 14, 2023
Merged

Fix linking error with cached_ik_kinematics_plugin #2292

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4c901b2
Fix linking error with cached_ik_kinematics_plugin
sloretz Aug 10, 2023
68a6ee2
Add PUBLIC/PRIVATE keywords
sloretz Aug 11, 2023
449e7fe
Merge branch 'main' into sloretz__cache_ik_link_issues
sjahr Aug 12, 2023
9ce1be6
Merge branch 'main' into sloretz__cache_ik_link_issues
sjahr Aug 14, 2023
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14 changes: 9 additions & 5 deletions moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,11 @@ find_package(ur_kinematics QUIET)

add_library(moveit_cached_ik_kinematics_base SHARED src/ik_cache.cpp)
set_target_properties(moveit_cached_ik_kinematics_base PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(moveit_cached_ik_kinematics_base
ament_target_dependencies(moveit_cached_ik_kinematics_base PUBLIC
rclcpp
moveit_core
moveit_msgs
)
target_link_libraries(moveit_cached_ik_kinematics_base moveit_cached_ik_kinematics_plugin)

if(trac_ik_kinematics_plugin_FOUND)
include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS})
Expand All @@ -20,18 +19,23 @@ generate_parameter_library(
include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_parameters.yaml # path to input yaml file
)

target_link_libraries(moveit_cached_ik_kinematics_base PUBLIC
cached_ik_kinematics_parameters
moveit_kdl_kinematics_plugin)

add_library(moveit_cached_ik_kinematics_plugin SHARED src/cached_ik_kinematics_plugin.cpp)
set_target_properties(moveit_cached_ik_kinematics_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(moveit_cached_ik_kinematics_plugin
ament_target_dependencies(moveit_cached_ik_kinematics_plugin PUBLIC
rclcpp
moveit_core
moveit_msgs
rsl
)
target_link_libraries(moveit_cached_ik_kinematics_plugin
target_link_libraries(moveit_cached_ik_kinematics_plugin PRIVATE
cached_ik_kinematics_parameters
moveit_kdl_kinematics_plugin
moveit_srv_kinematics_plugin)
moveit_srv_kinematics_plugin
moveit_cached_ik_kinematics_base)
if(trac_ik_kinematics_plugin_FOUND)
target_link_libraries(moveit_cached_ik_kinematics_plugin ${trac_ik_kinematics_plugin_LIBRARIES})
set_target_properties(moveit_cached_ik_kinematics_plugin PROPERTIES COMPILE_DEFINITIONS "CACHED_IK_KINEMATICS_TRAC_IK")
Expand Down