cmake_minimum_required(VERSION 2.8.12)

project(godel_process_planning)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS

descartes_core

descartes_moveit

descartes_planner

descartes_trajectory

godel_msgs

moveit_ros_planning_interface

roscpp

)

catkin_package(

INCLUDE_DIRS include

CATKIN_DEPENDS

descartes_core

descartes_moveit

descartes_planner

descartes_trajectory

godel_msgs

moveit_ros_planning_interface

roscpp

)

include_directories(

${catkin_INCLUDE_DIRS}

)

add_executable(godel_process_planning_node

src/blend_process_planning.cpp

src/common_utils.cpp

src/godel_process_planning.cpp

src/godel_process_planning_node.cpp

src/keyence_process_planning.cpp

src/trajectory_utils.cpp

src/generate_motion_plan.cpp

src/path_transitions.cpp

)

add_dependencies(godel_process_planning_node godel_msgs_generate_messages_cpp)

target_link_libraries(godel_process_planning_node

${catkin_LIBRARIES}

)

install(TARGETS godel_process_planning_node

ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

install(DIRECTORY include/${PROJECT_NAME}/

DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

FILES_MATCHING PATTERN "*.h"

PATTERN ".svn" EXCLUDE

)

install(DIRECTORY launch

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)