Add planner chain tutorial

moveit · Dec 6, 2023 · 815f85a · 815f85a
1 parent 06fcaf6
commit 815f85a
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -69,6 +69,7 @@ add_subdirectory(doc/how_to_guides/parallel_planning)
 add_subdirectory(doc/how_to_guides/chomp_planner)
 add_subdirectory(doc/how_to_guides/persistent_scenes_and_states)
 add_subdirectory(doc/how_to_guides/pilz_industrial_motion_planner)
+add_subdirectory(doc/how_to_guides/pipeline_testbench)
 add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)
 add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
 add_subdirectory(doc/tutorials/quickstart_in_rviz)

diff --git a/doc/how_to_guides/pipeline_testbench/CMakeLists.txt b/doc/how_to_guides/pipeline_testbench/CMakeLists.txt
@@ -0,0 +1,13 @@
+add_executable(pipeline_testbench_example src/pipeline_testbench_main.cpp)
+target_include_directories(pipeline_testbench_example PRIVATE include)
+ament_target_dependencies(pipeline_testbench_example  ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+
+install(TARGETS pipeline_testbench_example
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)