moveit · mosfet80 · Oct 14, 2025
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -35,18 +35,18 @@
 /* Author: Sachin Chitta, Michael Lautman */
 
 #include <rclcpp/rclcpp.hpp>
-#include <geometry_msgs/msg/pose.hpp>
+//#include <geometry_msgs/msg/pose.hpp>
 
 // MoveIt
-#include <moveit_msgs/msg/planning_scene.hpp>
-#include <moveit_msgs/msg/attached_collision_object.hpp>
-#include <moveit_msgs/srv/get_state_validity.hpp>
-#include <moveit_msgs/msg/display_robot_state.hpp>
+//#include <moveit_msgs/msg/planning_scene.hpp>
+//#include <moveit_msgs/msg/attached_collision_object.hpp>
+//#include <moveit_msgs/srv/get_state_validity.hpp>
+//#include <moveit_msgs/msg/display_robot_state.hpp>
 #include <moveit_msgs/srv/apply_planning_scene.hpp>
 
-#include <moveit/robot_model_loader/robot_model_loader.hpp>
-#include <moveit/robot_state/robot_state.hpp>
-#include <moveit/robot_state/conversions.hpp>
+//#include <moveit/robot_model_loader/robot_model_loader.hpp>
+//#include <moveit/robot_state/robot_state.hpp>
+//#include <moveit/robot_state/conversions.hpp>
 
 #include <rviz_visual_tools/rviz_visual_tools.hpp>
 

diff --git 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
@@ -40,7 +40,7 @@
  *      Description : Example of using pose tracking via the ROS API in a door opening scenario.
  */
 
-#include <rclcpp/rclcpp.hpp>
+//#include <rclcpp/rclcpp.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <visualization_msgs/msg/marker.hpp>
@@ -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_;

diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -5,7 +5,6 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
 
-#include <chrono>
 #include <future>
 #include <gtest/gtest.h>
 #include <stdlib.h>