Remove plugins from export set (#3227)

* Remove plugins from export set Signed-off-by: Paul Gesel <[email protected]> * move more plugins to different export set Signed-off-by: Paul Gesel <[email protected]> * run pre-commit Signed-off-by: Paul Gesel <[email protected]> * remove plugins from moveit_kinematics export Signed-off-by: Paul Gesel <[email protected]> * do not link base interface to plugin in kinematics Signed-off-by: Paul Gesel <[email protected]> --------- Signed-off-by: Paul Gesel <[email protected]> Co-authored-by: Sebastian Jahr <[email protected]>
moveit · Jan 13, 2025 · b5eb4de · b5eb4de
1 parent 6595dee
commit b5eb4de
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Showing 4 changed files with 38 additions and 18 deletions.
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -69,13 +69,7 @@ add_subdirectory(utils)
 add_subdirectory(version)
 
 install(
-  TARGETS collision_detector_bullet_plugin
-          collision_detector_fcl_plugin
-          moveit_acceleration_filter
-          moveit_acceleration_filter_parameters
-          moveit_butterworth_filter
-          moveit_butterworth_filter_parameters
-          moveit_collision_detection
+  TARGETS moveit_collision_detection
           moveit_collision_detection_bullet
           moveit_collision_detection_fcl
           moveit_collision_distance_field
@@ -92,8 +86,6 @@ install(
           moveit_robot_model
           moveit_robot_state
           moveit_robot_trajectory
-          moveit_ruckig_filter
-          moveit_ruckig_filter_parameters
           moveit_smoothing_base
           moveit_test_utils
           moveit_trajectory_processing
@@ -104,6 +96,20 @@ install(
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin)
 
+install(
+  TARGETS collision_detector_bullet_plugin
+          collision_detector_fcl_plugin
+          moveit_acceleration_filter
+          moveit_acceleration_filter_parameters
+          moveit_butterworth_filter
+          moveit_butterworth_filter_parameters
+          moveit_ruckig_filter
+          moveit_ruckig_filter_parameters
+  EXPORT moveit_core_pluginTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin)
+
 ament_export_targets(moveit_coreTargets HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   angles

diff --git a/moveit_kinematics/CMakeLists.txt b/moveit_kinematics/CMakeLists.txt
@@ -28,12 +28,11 @@ set(THIS_PACKAGE_INCLUDE_DIRS
     cached_ik_kinematics_plugin/include)
 
 set(THIS_PACKAGE_LIBRARIES
-    cached_ik_kinematics_parameters
-    moveit_cached_ik_kinematics_base
-    moveit_cached_ik_kinematics_plugin
-    kdl_kinematics_parameters
-    moveit_kdl_kinematics_plugin
-    srv_kinematics_parameters
+    cached_ik_kinematics_parameters moveit_cached_ik_kinematics_base
+    kdl_kinematics_parameters srv_kinematics_parameters)
+
+set(THIS_PACKAGE_PLUGINS
+    moveit_cached_ik_kinematics_plugin moveit_kdl_kinematics_plugin
     moveit_srv_kinematics_plugin)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
@@ -74,6 +73,15 @@ install(
   INCLUDES
   DESTINATION include/moveit_kinematics)
 
+install(
+  TARGETS ${THIS_PACKAGE_PLUGINS}
+  EXPORT ${PROJECT_NAME}PluginTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES
+  DESTINATION include/moveit_kinematics)
+
 ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 

diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/cached_ik_kinematics_plugin/CMakeLists.txt
@@ -21,7 +21,7 @@ generate_parameter_library(
 
 target_link_libraries(
   moveit_cached_ik_kinematics_base PUBLIC cached_ik_kinematics_parameters
-                                          moveit_kdl_kinematics_plugin)
+                                          kdl_kinematics_parameters)
 
 add_library(moveit_cached_ik_kinematics_plugin SHARED
             src/cached_ik_kinematics_plugin.cpp)

diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
@@ -79,13 +79,19 @@ install(TARGETS move_group list_move_group_capabilities
         RUNTIME DESTINATION lib/moveit_ros_move_group)
 
 install(
-  TARGETS moveit_move_group_default_capabilities
-          moveit_move_group_capabilities_base
+  TARGETS moveit_move_group_capabilities_base
   EXPORT moveit_ros_move_groupTargets
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin)
 
+install(
+  TARGETS moveit_move_group_default_capabilities
+  EXPORT moveit_move_group_default_capabilitiesTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin)
+
 install(DIRECTORY include/ DESTINATION include/moveit_ros_move_group)
 
 install(PROGRAMS scripts/load_map scripts/save_map