-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
41 lines (34 loc) · 1.17 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
cmake_minimum_required(VERSION 3.1.3)
project(motoman_gp8_manipulator_ikfast_plugin)
if(NOT "${CMAKE_CXX_STANDARD}")
set(CMAKE_CXX_STANDARD 14)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
find_package(catkin REQUIRED COMPONENTS
moveit_core
pluginlib
roscpp
tf2_kdl
tf2_eigen
eigen_conversions
)
find_package(LAPACK REQUIRED)
include_directories(${catkin_INCLUDE_DIRS} include)
catkin_package()
set(IKFAST_LIBRARY_NAME motoman_gp8_manipulator_moveit_ikfast_plugin)
add_library(${IKFAST_LIBRARY_NAME} src/motoman_gp8_manipulator_ikfast_moveit_plugin.cpp)
target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES})
# suppress warnings about unused variables in OpenRave's solver code
target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable)
install(TARGETS
${IKFAST_LIBRARY_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(
FILES
motoman_gp8_manipulator_moveit_ikfast_plugin_description.xml
DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION}
)