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Add HC10 ikfast plugin and moveit config #499

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Add HC10 ikfast plugin and moveit config #499

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630a7ad
add hc10 ikfast plugin and moveit config
May 6, 2022
f13b859
remove call to moveit_build_options macro
May 27, 2022
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46 changes: 46 additions & 0 deletions motoman_hc10_ikfast_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,46 @@
cmake_minimum_required(VERSION 3.1.3)
project(motoman_hc10_ikfast_plugin)


if(NOT "${CMAKE_CXX_STANDARD}")
set(CMAKE_CXX_STANDARD 14)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
find_package(catkin REQUIRED COMPONENTS
moveit_core
pluginlib
roscpp
tf2_kdl
tf2_eigen
)

find_package(LAPACK REQUIRED)

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

catkin_package()

set(IKFAST_LIBRARY_NAME motoman_hc10_manipulator_moveit_ikfast_plugin)
add_library(${IKFAST_LIBRARY_NAME} src/motoman_hc10_manipulator_ikfast_moveit_plugin.cpp)
target_link_libraries(${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 -Wno-unused-parameter)

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_hc10_manipulator_moveit_ikfast_plugin_description.xml
DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION}
)
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