From 85f78e500bb07c9c98290dbe66770b28700d915c Mon Sep 17 00:00:00 2001 From: mosfet80 Date: Tue, 14 Oct 2025 17:24:23 +0200 Subject: [PATCH] fix ament_target_deprecation fix ament_target_dependencies deprecation --- CMakeLists.txt | 5 +++- .../collision_environments/CMakeLists.txt | 4 ++-- doc/examples/interactivity/CMakeLists.txt | 19 --------------- .../motion_planning_api/CMakeLists.txt | 4 ++-- .../motion_planning_pipeline/CMakeLists.txt | 5 ++-- .../move_group_interface/CMakeLists.txt | 5 ++-- doc/examples/moveit_cpp/CMakeLists.txt | 5 +++- doc/examples/planning_scene/CMakeLists.txt | 4 ++-- .../planning_scene_ros_api/CMakeLists.txt | 5 ++-- .../src/planning_scene_ros_api_tutorial.cpp | 16 ++++++------- doc/examples/realtime_servo/CMakeLists.txt | 23 ++++++++++++++++++- .../src/pose_tracking_tutorial.cpp | 4 ++-- .../CMakeLists.txt | 4 ++-- .../kinematics_cost_function/CMakeLists.txt | 5 ++-- .../parallel_planning/CMakeLists.txt | 5 +++- .../CMakeLists.txt | 12 +++++++--- .../trajectory_cache/CMakeLists.txt | 8 ++++++- .../CMakeLists.txt | 4 ++-- .../CMakeLists.txt | 19 +++++++++++++-- .../quickstart_in_rviz/CMakeLists.txt | 6 +++-- .../quickstart_in_rviz/test/bringup_test.cpp | 1 - 21 files changed, 103 insertions(+), 60 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5ee2731168..c832b1a872 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -53,6 +53,8 @@ add_subdirectory(doc/examples/collision_environments) # add_subdirectory(doc/examples/tests) # add_subdirectory(doc/examples/trajopt_planner) # add_subdirectory(doc/examples/visualizing_collisions) + + add_subdirectory(doc/examples/perception_pipeline) add_subdirectory(doc/examples/jupyter_notebook_prototyping) add_subdirectory(doc/examples/motion_planning_api) @@ -62,8 +64,9 @@ add_subdirectory(doc/examples/move_group_interface) add_subdirectory(doc/examples/moveit_cpp) add_subdirectory(doc/examples/planning_scene) add_subdirectory(doc/examples/planning_scene_ros_api) -add_subdirectory(doc/examples/realtime_servo) +add_subdirectory(doc/examples/realtime_servo) ##problemi add_subdirectory(doc/examples/robot_model_and_robot_state) + add_subdirectory(doc/how_to_guides/benchmarking) add_subdirectory(doc/how_to_guides/isaac_panda) add_subdirectory(doc/how_to_guides/kinematics_cost_function) diff --git a/doc/examples/collision_environments/CMakeLists.txt b/doc/examples/collision_environments/CMakeLists.txt index b92c24adce..d90c17ed70 100644 --- a/doc/examples/collision_environments/CMakeLists.txt +++ b/doc/examples/collision_environments/CMakeLists.txt @@ -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 - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(collision_scene_example PUBLIC rclcpp::rclcpp moveit_ros_planning_interface::moveit_move_group_interface) install(TARGETS collision_scene_example ARCHIVE DESTINATION lib diff --git a/doc/examples/interactivity/CMakeLists.txt b/doc/examples/interactivity/CMakeLists.txt index 06542c775a..f143f20bad 100644 --- a/doc/examples/interactivity/CMakeLists.txt +++ b/doc/examples/interactivity/CMakeLists.txt @@ -6,25 +6,6 @@ add_library(${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} diff --git a/doc/examples/motion_planning_api/CMakeLists.txt b/doc/examples/motion_planning_api/CMakeLists.txt index 602e0aef03..b7320eb0b1 100644 --- a/doc/examples/motion_planning_api/CMakeLists.txt +++ b/doc/examples/motion_planning_api/CMakeLists.txt @@ -2,8 +2,8 @@ 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 - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(motion_planning_api_tutorial PUBLIC pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader moveit_visual_tools::moveit_visual_tools +moveit_ros_planning_interface::moveit_move_group_interface) install(TARGETS motion_planning_api_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/motion_planning_pipeline/CMakeLists.txt b/doc/examples/motion_planning_pipeline/CMakeLists.txt index cf944450f6..bbefad2a2c 100644 --- a/doc/examples/motion_planning_pipeline/CMakeLists.txt +++ b/doc/examples/motion_planning_pipeline/CMakeLists.txt @@ -2,8 +2,9 @@ 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}) +#ament_target_dependencies(motion_planning_pipeline_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(motion_planning_pipeline_tutorial PUBLIC pluginlib::pluginlib moveit_ros_planning::moveit_robot_model_loader moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor moveit_visual_tools::moveit_visual_tools) + install(TARGETS motion_planning_pipeline_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/move_group_interface/CMakeLists.txt b/doc/examples/move_group_interface/CMakeLists.txt index b4e2c9128f..75b3ae9eb3 100644 --- a/doc/examples/move_group_interface/CMakeLists.txt +++ b/doc/examples/move_group_interface/CMakeLists.txt @@ -2,8 +2,9 @@ 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) +#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} diff --git a/doc/examples/moveit_cpp/CMakeLists.txt b/doc/examples/moveit_cpp/CMakeLists.txt index 7f317918eb..7087761e70 100644 --- a/doc/examples/moveit_cpp/CMakeLists.txt +++ b/doc/examples/moveit_cpp/CMakeLists.txt @@ -1,6 +1,9 @@ +find_package(moveit_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) +#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} diff --git a/doc/examples/planning_scene/CMakeLists.txt b/doc/examples/planning_scene/CMakeLists.txt index 33cda665fa..0b4be040ee 100644 --- a/doc/examples/planning_scene/CMakeLists.txt +++ b/doc/examples/planning_scene/CMakeLists.txt @@ -2,8 +2,8 @@ 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) +#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} diff --git a/doc/examples/planning_scene_ros_api/CMakeLists.txt b/doc/examples/planning_scene_ros_api/CMakeLists.txt index bcaee07178..04b0d956e0 100644 --- a/doc/examples/planning_scene_ros_api/CMakeLists.txt +++ b/doc/examples/planning_scene_ros_api/CMakeLists.txt @@ -2,8 +2,9 @@ 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 - ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) + +target_link_libraries(planning_scene_ros_api_tutorial PRIVATE rclcpp::rclcpp moveit_msgs::moveit_msgs__rosidl_typesupport_cpp rviz_visual_tools::rviz_visual_tools +)#${geometry_msgs_TARGETS} )# moveit_core::moveit_planning_scene moveit_ros_planning::moveit_robot_model_loader moveit_visual_tools::moveit_visual_tools) install(TARGETS planning_scene_ros_api_tutorial DESTINATION lib/${PROJECT_NAME} diff --git a/doc/examples/planning_scene_ros_api/src/planning_scene_ros_api_tutorial.cpp b/doc/examples/planning_scene_ros_api/src/planning_scene_ros_api_tutorial.cpp index 4f09420368..48199c0a1d 100644 --- a/doc/examples/planning_scene_ros_api/src/planning_scene_ros_api_tutorial.cpp +++ b/doc/examples/planning_scene_ros_api/src/planning_scene_ros_api_tutorial.cpp @@ -35,18 +35,18 @@ /* Author: Sachin Chitta, Michael Lautman */ #include -#include +//#include // MoveIt -#include -#include -#include -#include +//#include +//#include +//#include +//#include #include -#include -#include -#include +//#include +//#include +//#include #include diff --git a/doc/examples/realtime_servo/CMakeLists.txt b/doc/examples/realtime_servo/CMakeLists.txt index a33cf18998..d855177f66 100644 --- a/doc/examples/realtime_servo/CMakeLists.txt +++ b/doc/examples/realtime_servo/CMakeLists.txt @@ -1,6 +1,27 @@ 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 tf2_eigen::tf2_eigen + # moveit_ros_planning::default_request_adapter_parameters + # moveit_ros_planning::default_response_adapter_parameters + # moveit_ros_planning::kinematics_parameters + # moveit_ros_planning::moveit_collision_plugin_loader + # moveit_ros_planning::moveit_constraint_sampler_manager_loader + # moveit_ros_planning::moveit_cpp + # moveit_ros_planning::moveit_kinematics_plugin_loader + # moveit_ros_planning::moveit_plan_execution + # moveit_ros_planning::moveit_planning_pipeline + # moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + # moveit_ros_planning::moveit_rdf_loader + # moveit_ros_planning::moveit_robot_model_loader + # moveit_ros_planning::moveit_trajectory_execution_manager + # moveit_ros_planning::planning_pipeline_parameters + # moveit_ros_planning::srdf_publisher_node + moveit_servo::moveit_servo_lib_cpp + + +)#rclcpp::rclcpp ${visualization_msgs_TARGETS} moveit_servo::moveit_servo_lib_cpp ${moveit_msgs_TARGETS} moveit_ros_planning::moveit_cpp control_msgs::control_msgs__rosidl_typesupport_fastrtps_cpp moveit_msgs::moveit_msgs__rosidl_typesupport_cpp visualization_msgs::visualization_msgs__rosidl_generator_c + install( TARGETS diff --git a/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp b/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp index d0692e9ced..04bb4a24f3 100644 --- a/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp +++ b/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp @@ -40,7 +40,7 @@ * Description : Example of using pose tracking via the ROS API in a door opening scenario. */ -#include +//#include #include #include #include @@ -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::SharedPtr collision_object_publisher_; moveit_msgs::msg::CollisionObject collision_object_; shape_msgs::msg::SolidPrimitive door_primitive_; diff --git a/doc/examples/robot_model_and_robot_state/CMakeLists.txt b/doc/examples/robot_model_and_robot_state/CMakeLists.txt index f4f85b787e..183545ef4e 100644 --- a/doc/examples/robot_model_and_robot_state/CMakeLists.txt +++ b/doc/examples/robot_model_and_robot_state/CMakeLists.txt @@ -2,8 +2,8 @@ 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) +#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} diff --git a/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt b/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt index 53ba3080bf..1d04a66a41 100644 --- a/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt +++ b/doc/how_to_guides/kinematics_cost_function/CMakeLists.txt @@ -2,8 +2,9 @@ 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}) +#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} diff --git a/doc/how_to_guides/parallel_planning/CMakeLists.txt b/doc/how_to_guides/parallel_planning/CMakeLists.txt index 3078bbdd72..dafd71ab05 100644 --- a/doc/how_to_guides/parallel_planning/CMakeLists.txt +++ b/doc/how_to_guides/parallel_planning/CMakeLists.txt @@ -1,6 +1,9 @@ +find_package(moveit_visual_tools 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) +#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} diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt b/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt index 5973acf864..dbf39e0762 100644 --- a/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt +++ b/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt @@ -1,14 +1,20 @@ +find_package(moveit_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}) +#ament_target_dependencies(pilz_move_group ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(pilz_move_group PUBLIC 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}) +#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}) +#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 diff --git a/doc/how_to_guides/trajectory_cache/CMakeLists.txt b/doc/how_to_guides/trajectory_cache/CMakeLists.txt index 3d3dc093b0..dcf7113fbd 100644 --- a/doc/how_to_guides/trajectory_cache/CMakeLists.txt +++ b/doc/how_to_guides/trajectory_cache/CMakeLists.txt @@ -1,5 +1,11 @@ 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}) diff --git a/doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt b/doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt index 080fec44ff..e571720ba3 100644 --- a/doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt +++ b/doc/how_to_guides/using_ompl_constrained_planning/CMakeLists.txt @@ -2,8 +2,8 @@ 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) +#ament_target_dependencies(ompl_constrained_planning ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) +target_link_libraries(ompl_constrained_planning PUBLIC moveit_ros_move_group::moveit_move_group_capabilities_base moveit_ros_planning_interface::moveit_move_group_interface moveit_visual_tools::moveit_visual_tools ) install(TARGETS ompl_constrained_planning DESTINATION lib/${PROJECT_NAME} diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt b/doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt index 9fd9a56713..6e571bbabd 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt @@ -1,8 +1,23 @@ +find_package(moveit_ros_planning REQUIRED) +find_package(moveit_core REQUIRED) + add_executable(mtc_tutorial src/mtc_node.cpp) -ament_target_dependencies(mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS}) +#ament_target_dependencies(mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS}) + target_link_libraries(mtc_tutorial PUBLIC rclcpp::rclcpp moveit_core::moveit_planning_interface moveit_core::moveit_planning_scene + moveit_ros_planning::moveit_planning_pipeline + moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + moveit_ros_planning_interface::moveit_move_group_interface + ${moveit_task_constructor_core_TARGETS}) add_executable(minimal_mtc_tutorial src/minimal.cpp) -ament_target_dependencies(minimal_mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS}) +#ament_target_dependencies(minimal_mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS}) + target_link_libraries(minimal_mtc_tutorial PUBLIC rclcpp::rclcpp moveit_core::moveit_planning_interface moveit_core::moveit_planning_scene + moveit_ros_planning::moveit_planning_pipeline + moveit_ros_planning::moveit_planning_pipeline_interfaces + moveit_ros_planning::moveit_planning_scene_monitor + moveit_ros_planning_interface::moveit_move_group_interface + ${moveit_task_constructor_core_TARGETS}) install(TARGETS mtc_tutorial minimal_mtc_tutorial ARCHIVE DESTINATION lib diff --git a/doc/tutorials/quickstart_in_rviz/CMakeLists.txt b/doc/tutorials/quickstart_in_rviz/CMakeLists.txt index a18e04161c..85984a9631 100644 --- a/doc/tutorials/quickstart_in_rviz/CMakeLists.txt +++ b/doc/tutorials/quickstart_in_rviz/CMakeLists.txt @@ -1,18 +1,20 @@ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -if(BUILD_TESTING) +if(0)#BUILD_TESTING) find_package(ament_lint_auto REQUIRED) find_package(ament_cmake_gtest REQUIRED) find_package(ros_testing REQUIRED) + find_package(control_msgs REQUIRED) find_package(Boost REQUIRED COMPONENTS filesystem) # Run all lint tests in package.xml ament_lint_auto_find_test_dependencies() + # target_link_libraries(bringup_test PUBLIC control_msgs::control_msgs) + # Basic "quickstart_in_rviz" bringup test ament_add_gtest_executable(bringup_test test/bringup_test.cpp ) - ament_target_dependencies(bringup_test ${THIS_PACKAGE_INCLUDE_DEPENDS}) add_ros_test(test/bringup_test.test.py TIMEOUT 120 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}") endif() diff --git a/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp b/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp index 3597c8e06e..ca5889c04f 100644 --- a/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp +++ b/doc/tutorials/quickstart_in_rviz/test/bringup_test.cpp @@ -5,7 +5,6 @@ #include #include -#include #include #include #include