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Issue #12: Regenerate turtlebot_arm_ikfast_plugin #2

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merged 1 commit into from
May 18, 2018
Merged

Issue #12: Regenerate turtlebot_arm_ikfast_plugin #2

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58 changes: 21 additions & 37 deletions turtlebot_arm_ikfast_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,56 +1,40 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 2.8.12)
project(turtlebot_arm_ikfast_plugin)

add_definitions(-std=c++11)
add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
cmake_modules
moveit_core
pluginlib
roscpp
tf_conversions
)
find_package(Boost REQUIRED)
find_package(Eigen REQUIRED)
)

include_directories(${catkin_INCLUDE_DIRS})

catkin_package(
LIBRARIES
DEPENDS
moveit_core
pluginlib
roscpp
tf_conversions
)
CATKIN_DEPENDS
moveit_core
pluginlib
roscpp
tf_conversions
)

include_directories(${catkin_INCLUDE_DIRS})
include_directories(${Eigen_INCLUDE_DIRS})
include_directories(include)

link_directories(${catkin_LIBRARY_DIRS})
set(IKFAST_LIBRARY_NAME turtlebot_arm_arm_moveit_ikfast_plugin)

set(MOVEIT_LIB_NAME turtlebot_arm_moveit_ikfast_kinematics_plugin)
find_package(LAPACK REQUIRED)

add_library(${MOVEIT_LIB_NAME} src/turtlebot_arm_arm_ikfast_moveit_plugin.cpp)
target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(${IKFAST_LIBRARY_NAME} src/turtlebot_arm_arm_ikfast_moveit_plugin.cpp)
target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES})

install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY include/ DESTINATION include)
install(TARGETS ${IKFAST_LIBRARY_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

install(FILES turtlebot_arm_moveit_ikfast_plugin_description.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
install(
FILES
turtlebot_arm_moveit_ikfast_plugin_description.xml
DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION}
)















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