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How do you include header files from moveit_experimental in a project?

asked 2018-05-31 05:14:47 -0600

tzahroof gravatar image

updated 2018-05-31 05:46:52 -0600

Hello,

I am trying to include the collision_detector_hybrid_plugin_loader.h file (located in collision_distance_field of the moveit_experimental sub-folder) so that I can the planning scene's default collision detector to HYBRID (instead of FCL).

I've tried including the file with the following line:

#include <moveit/collision_distance_field/collision_detector_hybrid_plugin_loader.h>

but "catkin build" states that no such file can be found. Can I fiddle with the CMakeLists.txt file to make the header file known, or do I have to move the collision_detector_hybrid_plugin_loader.h file (and its associated and reference files) to the moveit_core directory?

The moveit_experimental folder is located in the moveit default package:

https://github.com/ros-planning/moveit

Thanks for the help!

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Can I fiddle with the CMakeLists.txt file

you'll have to. Did you add the package(s) that provide(s) that/those header(s) to your find_package(catkin COMPONENTS ..) line?

gvdhoorn gravatar image gvdhoorn  ( 2018-05-31 05:35:07 -0600 )edit

Thank you! This was exactly the solution!!

tzahroof gravatar image tzahroof  ( 2018-05-31 05:46:27 -0600 )edit

For future readers: You need to go to whatever package is using the moveit_experimental functionality (in my case, the package of the robot I was creating) and edit the CMakeLists.txt file and the package.xml file to include moveit_experimental alongside where moveit_core is

tzahroof gravatar image tzahroof  ( 2018-05-31 05:46:43 -0600 )edit

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answered 2018-05-31 05:48:04 -0600

tzahroof gravatar image

As suggested by gvdhoorn:

You need to go to whatever package is using the moveit_experimental functionality (in my case, the package of the robot I was creating) and edit the CMakeLists.txt file and the package.xml file to include moveit_experimental alongside where moveit_core is

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Asked: 2018-05-31 05:14:47 -0600

Seen: 210 times

Last updated: May 31 '18