CMakeList.txt

edit

Hey, I want to include so moveit headers in my CMakeList.txt, because when I run catkin_make this error comes up

CMkeFiles/inv_node.dir/src/inv_node.cpp.o: In function 'main':
inv_node.cpp:(.text+0x33f): undefined reference to 'rdf_loader::RDFLoader::RDFLoader(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
collect2: ld returned 1 exit status
make[2]: *** [/home/youbot/catkin_wsj/devel/lib/inv_node/inv_node] Error 1
make[1]: *** [inv_node/CMakeFiles/inv_node.dir/all] Error 2
make: *** [all] Error2

Can anyone say me what I have to writte in my CMakeList.txt that it works?

That would be grade.

Thanks.

this is a part of my code:

#include <ros/ros.h>
#include <fstream>
#include <sstream>
#include <urdf/model.h>

// MoveIt!
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/rdf_loader/rdf_loader.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "inv_node");
  ros::AsyncSpinner spinner(1);
  spinner.start();

 ros::NodeHandle nh;

// Convert urdf file in a string
  std::ifstream u("youbot_arm.urdf");
  std::stringstream su;
  su << u.rdbuf();

// upload the urdf to the parameter server
  nh.setParam("robot_description", su.str());

  // Convert srdf file in a string
  std::ifstream s("youbot.srdf");
  std::stringstream ss;
  ss << s.rdbuf();

// upload the srdf to the parameter server
  nh.setParam("robot_description_semantic", ss.str());


// Initialize the robot model
// Objekt robot_model wird initialisiert durch Konstruktor der Klasse
  rdf_loader::RDFLoader::RDFLoader robot_model(su.str(), ss.str());

ros::shutdown();
return 0;
}

my CMakeList.txt:

cmake_minimu_required(VERSION 2.8.3)
project(inv_node)

find_package(catkin REQUIRED COMPONENTS
  moveit_core
  roscpp
  rospy
  urdf
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES inv_node
  CATKIN_DEPENDS moveit_core roscpp rospy urdf
  DEPENDS system_lib
)

include_directories(
  ${catkin_INCLUDE_DIRS}
  opt/hydro/include/moveit/rdf_loader/rdf_loader.h
)

add_executable(inv_node src/inv_node.cpp)
target_link_libraries(inv_node ${catkin_LIBRARIES})
add_dependencies(inv_node inv_node_gencpp)