From d9aece37dad86ea89aa9e79bc91c5a748bff633c Mon Sep 17 00:00:00 2001 From: Tyler Weaver Date: Fri, 29 Sep 2023 16:06:33 -0600 Subject: [PATCH 1/2] Use find_package for fcl (#2399) (cherry picked from commit 498a9f3d659cbcf0db03cef584d4ca16468e4dab) # Conflicts: # moveit_core/CMakeLists.txt --- moveit_core/CMakeLists.txt | 46 +++++++++++++++++++ .../collision_detection_fcl/CMakeLists.txt | 2 +- 2 files changed, 47 insertions(+), 1 deletion(-) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index bffe5d9ba4..934798c5ce 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -6,6 +6,7 @@ find_package(moveit_common REQUIRED) moveit_package() find_package(ament_cmake REQUIRED) +<<<<<<< HEAD find_package(rclcpp REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) @@ -20,6 +21,9 @@ foreach(LIBFCL_LIBRARY ${LIBFCL_LIBRARIES}) endforeach() set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}") +======= +find_package(angles REQUIRED) +>>>>>>> 498a9f3d6 (Use find_package for fcl (#2399)) find_package(Bullet 2.87 REQUIRED) find_package(angles REQUIRED) find_package(OCTOMAP REQUIRED) @@ -31,6 +35,12 @@ find_package(tf2_eigen REQUIRED) find_package(tf2_kdl REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(eigen_stl_containers REQUIRED) +<<<<<<< HEAD +======= +find_package(Eigen3 REQUIRED) +find_package(eigen3_cmake_module REQUIRED) +find_package(fcl REQUIRED) +>>>>>>> 498a9f3d6 (Use find_package for fcl (#2399)) find_package(generate_parameter_library REQUIRED) find_package(geometric_shapes REQUIRED) find_package(geometry_msgs REQUIRED) @@ -218,8 +228,44 @@ install( INCLUDES DESTINATION include ) +<<<<<<< HEAD ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor) +======= +ament_export_targets(moveit_coreTargets HAS_LIBRARY_TARGET) +ament_export_dependencies( + angles + Bullet + common_interfaces + eigen_stl_containers + Eigen3 + eigen3_cmake_module + fcl + generate_parameter_library + geometric_shapes + geometry_msgs + kdl_parser + moveit_msgs + OCTOMAP + octomap_msgs + pluginlib + random_numbers + rclcpp + ruckig + sensor_msgs + shape_msgs + srdfdom + std_msgs + tf2_eigen + tf2_geometry_msgs + tf2_kdl + trajectory_msgs + urdf + urdfdom + urdfdom_headers + visualization_msgs +) +>>>>>>> 498a9f3d6 (Use find_package for fcl (#2399)) # Plugin exports pluginlib_export_plugin_description_file(moveit_core collision_detector_fcl_description.xml) diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt index 382dc41c70..1a6b984c64 100644 --- a/moveit_core/collision_detection_fcl/CMakeLists.txt +++ b/moveit_core/collision_detection_fcl/CMakeLists.txt @@ -14,11 +14,11 @@ ament_target_dependencies(${MOVEIT_LIB_NAME} urdf urdfdom urdfdom_headers - LIBFCL visualization_msgs ) target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection + fcl ) add_library(collision_detector_fcl_plugin SHARED src/collision_detector_fcl_plugin_loader.cpp) From 4d72c54e1cc232d6b79ef95c4172f293b8dc93bc Mon Sep 17 00:00:00 2001 From: Tyler Weaver Date: Fri, 29 Sep 2023 16:19:44 -0600 Subject: [PATCH 2/2] Unify humble moveit_core CMake with main --- moveit_core/CMakeLists.txt | 72 ++++++-------------------------------- 1 file changed, 11 insertions(+), 61 deletions(-) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index 934798c5ce..7a27cda45a 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -6,57 +6,36 @@ find_package(moveit_common REQUIRED) moveit_package() find_package(ament_cmake REQUIRED) -<<<<<<< HEAD -find_package(rclcpp REQUIRED) -find_package(eigen3_cmake_module REQUIRED) -find_package(Eigen3 REQUIRED) - -find_package(PkgConfig REQUIRED) -pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0") -# replace LIBFCL_LIBRARIES with full paths to the libraries -set(LIBFCL_LIBRARIES_FULL "") -foreach(LIBFCL_LIBRARY ${LIBFCL_LIBRARIES}) - find_library(${LIBFCL_LIBRARY}_LIB ${LIBFCL_LIBRARY} ${LIBFCL_LIBRARY_DIRS}) - list(APPEND LIBFCL_LIBRARIES_FULL ${${LIBFCL_LIBRARY}_LIB}) -endforeach() -set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}") - -======= find_package(angles REQUIRED) ->>>>>>> 498a9f3d6 (Use find_package for fcl (#2399)) find_package(Bullet 2.87 REQUIRED) -find_package(angles REQUIRED) -find_package(OCTOMAP REQUIRED) -find_package(urdfdom REQUIRED) -find_package(urdf REQUIRED) -find_package(urdfdom_headers REQUIRED) -find_package(ament_cmake REQUIRED) -find_package(tf2_eigen REQUIRED) -find_package(tf2_kdl REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) +find_package(common_interfaces REQUIRED) find_package(eigen_stl_containers REQUIRED) -<<<<<<< HEAD -======= find_package(Eigen3 REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(fcl REQUIRED) ->>>>>>> 498a9f3d6 (Use find_package for fcl (#2399)) find_package(generate_parameter_library REQUIRED) find_package(geometric_shapes REQUIRED) find_package(geometry_msgs REQUIRED) find_package(kdl_parser REQUIRED) find_package(moveit_msgs REQUIRED) +find_package(OCTOMAP REQUIRED) find_package(octomap_msgs REQUIRED) +find_package(pluginlib REQUIRED) find_package(random_numbers REQUIRED) +find_package(rclcpp REQUIRED) find_package(ruckig REQUIRED) find_package(sensor_msgs REQUIRED) find_package(shape_msgs REQUIRED) find_package(srdfdom REQUIRED) find_package(std_msgs REQUIRED) +find_package(tf2_eigen REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(tf2_kdl REQUIRED) find_package(trajectory_msgs REQUIRED) +find_package(urdf REQUIRED) +find_package(urdfdom REQUIRED) +find_package(urdfdom_headers REQUIRED) find_package(visualization_msgs REQUIRED) -find_package(common_interfaces REQUIRED) -find_package(pluginlib REQUIRED) # TODO: Port python bindings # find_package(pybind11 REQUIRED) @@ -95,31 +74,6 @@ set(THIS_PACKAGE_INCLUDE_DIRS utils/include ) -set(THIS_PACKAGE_INCLUDE_DEPENDS - angles - eigen_stl_containers - generate_parameter_library - geometric_shapes - geometry_msgs - kdl_parser - moveit_msgs - octomap_msgs - random_numbers - sensor_msgs - shape_msgs - srdfdom - std_msgs - tf2_eigen - tf2_geometry_msgs - trajectory_msgs - visualization_msgs - Eigen3 - eigen3_cmake_module - OCTOMAP - Bullet - ruckig -) - include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS} ${LIBFCL_INCLUDE_DIRS} ) @@ -228,11 +182,7 @@ install( INCLUDES DESTINATION include ) -<<<<<<< HEAD ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} orocos_kdl_vendor) -======= -ament_export_targets(moveit_coreTargets HAS_LIBRARY_TARGET) ament_export_dependencies( angles Bullet @@ -264,8 +214,8 @@ ament_export_dependencies( urdfdom urdfdom_headers visualization_msgs + orocos_kdl_vendor ) ->>>>>>> 498a9f3d6 (Use find_package for fcl (#2399)) # Plugin exports pluginlib_export_plugin_description_file(moveit_core collision_detector_fcl_description.xml)