[WIP] ROS2 Port #101
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| @@ -1,88 +1,99 @@ | ||||||
| cmake_minimum_required(VERSION 3.16.3) | ||||||
| project(moveit_calibration_gui) | ||||||
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| # Common cmake code applied to all moveit packages | ||||||
| find_package(moveit_common REQUIRED) | ||||||
| moveit_package() | ||||||
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| find_package(ament_cmake REQUIRED) | ||||||
| find_package(ament_index_cpp REQUIRED) | ||||||
| find_package(class_loader REQUIRED) | ||||||
| find_package(geometric_shapes REQUIRED) | ||||||
| find_package(moveit_calibration_plugins REQUIRED) | ||||||
| find_package(moveit_core REQUIRED) | ||||||
| find_package(moveit_ros_perception REQUIRED) | ||||||
| find_package(moveit_ros_planning REQUIRED) | ||||||
| find_package(moveit_ros_planning_interface REQUIRED) | ||||||
| find_package(moveit_ros_visualization REQUIRED) | ||||||
| find_package(moveit_visual_tools REQUIRED) | ||||||
| find_package(pluginlib REQUIRED) | ||||||
| find_package(tf2_eigen REQUIRED) | ||||||
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| find_package(rviz2 REQUIRED) | ||||||
| find_package(rviz_common REQUIRED) | ||||||
| find_package(rviz_default_plugins REQUIRED) | ||||||
| find_package(rviz_rendering REQUIRED) | ||||||
| find_package(rviz_visual_tools REQUIRED) | ||||||
| find_package(rviz_ogre_vendor REQUIRED) | ||||||
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| find_package(OpenCV REQUIRED) | ||||||
| find_package(eigen3_cmake_module REQUIRED) | ||||||
| find_package(Eigen3 REQUIRED) | ||||||
| find_package(OpenGL REQUIRED) | ||||||
| find_package(GLUT REQUIRED) | ||||||
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Member
There was a problem hiding this comment. Are we directly depending on GLUT or is this only added because of |
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| # Qt Stuff | ||||||
| find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) | ||||||
| set(QT_LIBRARIES Qt5::Widgets) | ||||||
| macro(qt_wrap_ui) | ||||||
| qt5_wrap_ui(${ARGN}) | ||||||
| endmacro() | ||||||
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| set(CMAKE_AUTOMOC ON) | ||||||
| set(CMAKE_AUTOUIC ON) | ||||||
| set(CMAKE_AUTORCC ON) | ||||||
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| set(CMAKE_INCLUDE_CURRENT_DIR ON) | ||||||
| add_definitions(-DQT_NO_KEYWORDS) | ||||||
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| set(THIS_PACKAGE_INCLUDE_DEPENDS | ||||||
| ament_index_cpp | ||||||
| Eigen3 | ||||||
| eigen3_cmake_module | ||||||
| moveit_core | ||||||
| moveit_calibration_plugins | ||||||
| moveit_ros_perception | ||||||
| moveit_ros_planning | ||||||
| moveit_ros_planning_interface | ||||||
| moveit_ros_visualization | ||||||
| moveit_visual_tools | ||||||
| rclcpp | ||||||
| rviz_common | ||||||
| rviz_default_plugins | ||||||
| rviz_visual_tools | ||||||
| rviz_rendering | ||||||
| rviz_ogre_vendor | ||||||
| pluginlib | ||||||
| tf2_eigen | ||||||
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Member
There was a problem hiding this comment.
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| ) | ||||||
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| set(THIS_PACKAGE_LIBRARIES | ||||||
| moveit_handeye_calibration_rviz_plugin_core | ||||||
| moveit_handeye_calibration_rviz_plugin | ||||||
| ) | ||||||
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| include_directories( | ||||||
| handeye_calibration_rviz_plugin/include | ||||||
| ) | ||||||
| include_directories("${OGRE_PREFIX_DIR}/include") | ||||||
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| add_subdirectory(handeye_calibration_rviz_plugin) | ||||||
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| pluginlib_export_plugin_description_file(rviz_common handeye_calibration_rviz_plugin_description.xml) | ||||||
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| install( | ||||||
| TARGETS ${THIS_PACKAGE_LIBRARIES} | ||||||
| EXPORT export_${PROJECT_NAME} | ||||||
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There was a problem hiding this comment. I was recently advised by @tylerjw that this is more standard cmake than the export_ prefix
Suggested change
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| LIBRARY DESTINATION lib | ||||||
| ARCHIVE DESTINATION lib | ||||||
| RUNTIME DESTINATION bin | ||||||
| INCLUDES DESTINATION include | ||||||
| ) | ||||||
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| # if (CATKIN_ENABLE_TESTING) | ||||||
| # find_package(rostest REQUIRED) | ||||||
| # endif() | ||||||
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| ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) | ||||||
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There was a problem hiding this comment. Nit: There is also an |
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| ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||||||
| ament_package() | ||||||
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Not entirely sure if this is still required (I think it is), but we used to depend on
eigen3_cmake_modulefor Eigen3 to work. See https://github.com/ros2/eigen3_cmake_module