Unsure how to modify CMakeLists.txt to use moveit_drake

[Jakeisthesnake]

I am trying to write a simpe pendulum demo that uses the moveit_drake package. However, I am having trouble building the package containing the demo. What should I add to my CMakeLists.txt file so that it can find drake? Since there are multiple levels of CMakeLists files, I wonder if I need to modify all of them?

File structure

build_dir
-> src
-->moveit_drake
-->moveit2_tutorials
--->motion_planning_pipeline
---->CMakeLists.txt #for motion_planning_pipeline
--->CMakeLists.txt #for moveit2_tutorials

Build error:

jake@jake-Blade:~/moveit2_ws_main$ colcon build --packages-select moveit2_tutorials
Starting >>> moveit2_tutorials
--- stderr: moveit2_tutorials                          
CMake Error at /home/jake/moveit2_ws_main/install/moveit_drake/share/moveit_drake/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package):
  By not providing "Finddrake::drake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "drake::drake", but CMake did not find one.

  Could not find a package configuration file provided by "drake::drake" with
  any of the following names:

    drake::drakeConfig.cmake
    drake::drake-config.cmake

  Add the installation prefix of "drake::drake" to CMAKE_PREFIX_PATH or set
  "drake::drake_DIR" to a directory containing one of the above files.  If
  "drake::drake" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  /home/jake/moveit2_ws_main/install/moveit_drake/share/moveit_drake/cmake/moveit_drakeConfig.cmake:41 (include)
  motion_planning_pipeline/CMakeLists.txt:5 (find_package)


gmake: *** [Makefile:268: cmake_check_build_system] Error 1
---
Failed   <<< moveit2_tutorials [9.33s, exited with code 2]

Summary: 0 packages finished [10.0s]
  1 package failed: moveit2_tutorials
  1 package had stderr output: moveit2_tutorials

link to CMakeLists.txt file for motion_planning_pipeline folder
https://github.com/Jakeisthesnake/Moveit_drake_adapter/blob/main/src/moveit2_tutorials/motion_planning_pipeline/CMakeLists.txt

[Jakeisthesnake]

I tried adding set(drake_DIR "opt/drake/lib/cmake") to my CMakeLists file, but that hasn't changed the error message.

[sea-bass]

Did you install Drake?

The Dockerfile shows some steps here:

moveit_drake/.docker/Dockerfile

Lines 25 to 28 in 15c9687

	wget -qO- https://drake-apt.csail.mit.edu/drake.asc | gpg --dearmor - \
	| sudo tee /etc/apt/trusted.gpg.d/drake.gpg >/dev/null && \
	echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/$(lsb_release -cs) $(lsb_release -cs) main" \
	| sudo tee /etc/apt/sources.list.d/drake.list >/dev/null && \

Which is the steps listed on here: https://drake.mit.edu/apt.html#stable-releases

[Jakeisthesnake]

Yes, I am able to run the moveit_drake demo.

[Jakeisthesnake]

Just realized that I didn't update my package.xml file. That said, adding <depend>moveit_drake</depend> didn't resolve the build error.