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Fix dependency exports and update to .hpp includes #66

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Feb 3, 2025
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Fix dependency exports and update to .hpp includes #66

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3 changes: 2 additions & 1 deletion CMakeLists.txt
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Expand Up @@ -78,7 +78,8 @@ install(
DESTINATION include/drake)

ament_export_targets(moveit_drakeTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(moveit_core drake::drake generate_parameter_library)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} drake
generate_parameter_library)

add_subdirectory(demo)

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4 changes: 2 additions & 2 deletions demo/src/constrained_planning_demo.cpp
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@@ -1,7 +1,7 @@
#include <chrono>

#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/move_group_interface/move_group_interface.hpp>
#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <moveit_visual_tools/moveit_visual_tools.h>
#include <std_msgs/msg/color_rgba.hpp>
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21 changes: 11 additions & 10 deletions demo/src/pipeline_testbench_main.cpp
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@@ -1,20 +1,21 @@
#include <rclcpp/rclcpp.hpp>
#include <memory>
// MoveitCpp
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/moveit_cpp/planning_component.h>

#include <geometry_msgs/msg/point_stamped.h>
#include <geometry_msgs/msg/pose.h>
#include <geometry_msgs/msg/point_stamped.hpp>
#include <geometry_msgs/msg/pose.hpp>

// MoveitCpp
#include <moveit/moveit_cpp/moveit_cpp.hpp>
#include <moveit/moveit_cpp/planning_component.hpp>

#include <moveit_visual_tools/moveit_visual_tools.h>

// Warehouse
#include <moveit/warehouse/planning_scene_storage.h>
#include <moveit/warehouse/planning_scene_storage.h>
#include <moveit/warehouse/state_storage.h>
#include <moveit/warehouse/constraints_storage.h>
#include <moveit/warehouse/trajectory_constraints_storage.h>
#include <moveit/warehouse/planning_scene_storage.hpp>
#include <moveit/warehouse/planning_scene_storage.hpp>
#include <moveit/warehouse/state_storage.hpp>
#include <moveit/warehouse/constraints_storage.hpp>
#include <moveit/warehouse/trajectory_constraints_storage.hpp>
#include <warehouse_ros/database_loader.h>

namespace rvt = rviz_visual_tools;
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4 changes: 2 additions & 2 deletions include/ktopt_interface/ktopt_planning_context.hpp
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@@ -1,7 +1,7 @@
#pragma once

#include <ktopt_moveit_parameters.hpp>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_interface/planning_interface.hpp>
#include <moveit_drake/ktopt_moveit_parameters.hpp>
#include <shape_msgs/msg/solid_primitive.h>

// relevant drake includes
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4 changes: 2 additions & 2 deletions include/moveit/drake/conversions.hpp
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Expand Up @@ -36,8 +36,8 @@
Desc: TODO
*/

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_trajectory/robot_trajectory.hpp>

#include <drake/multibody/parsing/parser.h>
#include <drake/geometry/scene_graph.h>
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2 changes: 1 addition & 1 deletion src/add_toppra_time_parameterization.cpp
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Expand Up @@ -37,7 +37,7 @@
*/

#include <moveit/drake/conversions.hpp>
#include <moveit/planning_interface/planning_response_adapter.h>
#include <moveit/planning_interface/planning_response_adapter.hpp>
#include <class_loader/class_loader.hpp>
#include <moveit/utils/logger.hpp>

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6 changes: 3 additions & 3 deletions src/ktopt_planner_manager.cpp
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@@ -1,7 +1,7 @@
#include <memory>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_interface/planning_response.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_interface/planning_interface.hpp>
#include <moveit/planning_interface/planning_response.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/utils/logger.hpp>
#include <class_loader/class_loader.hpp>
#include <rclcpp/node.hpp>
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8 changes: 4 additions & 4 deletions src/ktopt_planning_context.cpp
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Expand Up @@ -16,11 +16,11 @@
#include <drake/visualization/visualization_config.h>
#include <drake/visualization/visualization_config_functions.h>

#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <moveit/constraint_samplers/constraint_sampler_manager.hpp>
#include <moveit/drake/conversions.hpp>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/planning_interface/planning_interface.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_state/conversions.hpp>

#include <ktopt_interface/ktopt_planning_context.hpp>

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