How to write Cmakelist to use moveit on elfin robot

edit

Hello ROS community, I am a beginner ROS learner using ROS melodic Ubuntu 18.04 kernal 5.4.0-89-generic.

My purpose is to program the robot manipulator Elfin E3 robotic arm, here's the repository https://github.com/hans-robot/elfin_r...

Where do i add or edit in the Cmakelist.txt, if i wish to use the Moveit and Elfin API? (i.e. i wanted to use #include <moveit move_group_interface="" move_group_interface.h=""> and all the functions they provide)

After catkin_make, I was met with multiple errors that mostly look like this:

CMake Error at /home/imre/catkin_ws/build/moveit_msgs/cmake/moveit_msgs-genmsg.cmake:2055 (add_custom_target):
  add_custom_target cannot create target "moveit_msgs_generate_messages_eus"
  because another target with the same name already exists.  The existing
  target is a custom target created in source directory
  "/home/imre/catkin_ws/src/qfpack".  See documentation for policy CMP0002
  for more details.
Call Stack (most recent call first):
  /opt/ros/melodic/share/genmsg/cmake/genmsg-extras.cmake:307 (include)
  moveit_msgs/CMakeLists.txt:104 (generate_messages)

The following describes how i did it:

I added these headers into the node that i wish to run, i named it drawcomb.cpp. Here's the top section of it:

#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>

#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/DisplayTrajectory.h>

#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>

#include <moveit_visual_tools/moveit_visual_tools.h>

#include <ros/ros.h>

Here's my cmakelist.txt :

cmake_minimum_required(VERSION 3.0.2)
project(qfpack)

find_package(catkin REQUIRED COMPONENTS
  moveit_core
  moveit_planners_ompl
  moveit_ros_planning
  moveit_ros_planning_interface
  actionlib
  control_msgs
  controller_manager_msgs
  elfin_robot_msgs
  std_srvs
  std_msgs
  roscpp
  rospy
  tf
  tf_conversions
  genmsg
  dynamic_reconfigure

  interactive_markers
  moveit_visual_tools
  moveit_ros_perception
  pluginlib
  geometric_shapes
  pcl_ros
  pcl_conversions
  rosbag
  tf2_ros
  tf2_eigen
  tf2_geometry_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES qfpack
  CATKIN_DEPENDS roscpp
  DEPENDS system_lib
)

add_executable(drawcomb src/drawcomb.cpp)
target_link_libraries(drawcomb ${catkin_LIBRARIES} ${Boost_LIBRARIES})
#add_dependencies(drawcomb qfpack_generate_messages_cpp)

What mistakes did i make in Cmakelist.txt or what have i not done? Thanks for advice!