### Run MoveIt Setup Assistant

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/README.md

Launches the MoveIt Setup Assistant GUI. No additional setup is required.

```bash
ros2 run moveit_setup_assistant moveit_setup_assistant
```

--------------------------------

### Installation Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt

Specifies the installation paths for binaries, headers, and support files.

```cmake
install(
  TARGETS moveit_setup_assistant moveit_setup_assistant_updater
  EXPORT moveit_setup_assistantTargets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/moveit_setup_assistant
  INCLUDES
  DESTINATION include/moveit_setup_assistant)
install(DIRECTORY include/ DESTINATION include/moveit_setup_assistant)
```

--------------------------------

### Install Targets and Headers

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/trajectory_cache/CMakeLists.txt

Configures installation rules for libraries, headers, and export files.

```cmake
install(
  TARGETS moveit_ros_trajectory_cache ${TRAJECTORY_CACHE_LIBRARIES}
  EXPORT moveit_ros_trajectory_cacheTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_ros_trajectory_cache)

install(DIRECTORY include/ DESTINATION include/moveit_ros_trajectory_cache)

# Install export headers for each library
foreach(lib_target ${TRAJECTORY_CACHE_LIBRARIES})
  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${lib_target}_export.h
          DESTINATION include/moveit_ros_trajectory_cache)
endforeach()
```

--------------------------------

### Installation Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/move_group/CMakeLists.txt

Specifies the installation destination for the built executables.

```cmake
install(TARGETS move_group list_move_group_capabilities
        RUNTIME DESTINATION lib/moveit_ros_move_group)
```

--------------------------------

### Installation Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt

Defines the installation paths for the generated parameter library and header files.

```cmake
install(
  TARGETS kinematics_parameters
  EXPORT ${PROJECT_NAME}Targets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
```

--------------------------------

### Configure Testing and Installation

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_srdf_plugins/CMakeLists.txt

Sets up unit tests and defines installation rules for the package.

```cmake
if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(test_srdf test/test_srdf.cpp)
  target_link_libraries(test_srdf moveit_setup_srdf_plugins)
endif()

install(
  TARGETS moveit_setup_srdf_plugins
  EXPORT moveit_setup_srdf_pluginsTargets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_setup_srdf_plugins)
install(FILES moveit_setup_framework_plugins.xml
        DESTINATION share/moveit_setup_srdf_plugins)
install(DIRECTORY include/ DESTINATION include/moveit_setup_srdf_plugins)

ament_export_targets(moveit_setup_srdf_pluginsTargets HAS_LIBRARY_TARGET)
pluginlib_export_plugin_description_file(moveit_setup_framework
                                         moveit_setup_framework_plugins.xml)

ament_package()
```

--------------------------------

### Installation and Export Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_plugins/moveit_simple_controller_manager/CMakeLists.txt

Configures installation paths and exports targets and plugin descriptions.

```cmake
install(
  TARGETS moveit_simple_controller_manager
  EXPORT moveit_simple_controller_managerTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_simple_controller_manager)
install(DIRECTORY include/ DESTINATION include/moveit_simple_controller_manager)

ament_export_targets(moveit_simple_controller_managerTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)

pluginlib_export_plugin_description_file(
  moveit_core moveit_simple_controller_manager_plugin_description.xml)

ament_package(CONFIG_EXTRAS ConfigExtras.cmake)
```

--------------------------------

### Install Targets and Resources

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/move_group/CMakeLists.txt

Defines installation rules for libraries, headers, scripts, and plugin descriptions.

```cmake
install(
  TARGETS moveit_ros_move_group moveit_move_group_capabilities_base
  EXPORT moveit_ros_move_groupTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin)

install(
  TARGETS moveit_move_group_default_capabilities
  EXPORT moveit_move_group_default_capabilitiesTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin)

install(DIRECTORY include/ DESTINATION include/moveit_ros_move_group)

install(PROGRAMS scripts/load_map scripts/save_map
        DESTINATION lib/moveit_ros_move_group)
```

--------------------------------

### Install Targets and Directories

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt

Defines installation paths for the package libraries and header files.

```cmake
install(
  TARGETS pilz_industrial_motion_planner
          cartesian_limits_parameters
          joint_limits_common
          planning_context_loader_base
          planning_context_loader_ptp
          planning_context_loader_lin
          planning_context_loader_circ
          planning_context_loader_polyline
          command_list_manager
          sequence_capability
          trajectory_generation_common
  EXPORT pilz_industrial_motion_plannerTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/pilz_industrial_motion_planner)

install(DIRECTORY include/ DESTINATION include/pilz_industrial_motion_planner)
```

--------------------------------

### Build and Install Configuration

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/planning/CMakeLists.txt

Includes subdirectories, defines the interface library, and sets up installation rules for targets and plugins.

```cmake
include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS})

add_subdirectory(collision_plugin_loader)
add_subdirectory(constraint_sampler_manager_loader)
add_subdirectory(kinematics_plugin_loader)
add_subdirectory(moveit_cpp)
add_subdirectory(plan_execution)
add_subdirectory(planning_components_tools)
add_subdirectory(planning_pipeline_interfaces)
add_subdirectory(planning_pipeline)
add_subdirectory(planning_request_adapter_plugins)
add_subdirectory(planning_response_adapter_plugins)
add_subdirectory(planning_scene_monitor)
add_subdirectory(rdf_loader)
add_subdirectory(robot_model_loader)
add_subdirectory(srdf_publisher_node)
add_subdirectory(trajectory_execution_manager)

# Create an umbrella INTERFACE target so downstream packages can use
# moveit_ros_planning::moveit_ros_planning to link all libraries at once.
add_library(moveit_ros_planning INTERFACE)
target_link_libraries(moveit_ros_planning INTERFACE ${THIS_PACKAGE_LIBRARIES})

install(
  TARGETS moveit_ros_planning ${THIS_PACKAGE_LIBRARIES}
  EXPORT moveit_ros_planningTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_ros_planning)

# install plugins as separate export set
install(
  TARGETS moveit_default_planning_response_adapter_plugins
          moveit_default_planning_request_adapter_plugins
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_ros_planning)

ament_export_targets(moveit_ros_planningTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
```

--------------------------------

### Basic CMakeLists.txt for MoveIt Package

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_framework/templates/CMakeLists.txt

This snippet defines the minimum CMake version, project name, and finds the ament_cmake package. It also includes installation rules for launch, config, and setup assistant files.

```cmake
cmake_minimum_required(VERSION 3.22)
project([GENERATED_PACKAGE_NAME])

find_package(ament_cmake REQUIRED)

ament_package()

if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
  install(
    DIRECTORY launch
    DESTINATION share/${PROJECT_NAME}
    PATTERN "setup_assistant.launch" EXCLUDE)
endif()

install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})
```

--------------------------------

### Define Installation Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_simulation/CMakeLists.txt

Specifies installation paths for templates, targets, and plugin configuration files.

```cmake
install(DIRECTORY templates DESTINATION share/moveit_setup_simulation)

install(
  TARGETS moveit_setup_simulation
  EXPORT moveit_setup_simulationTargets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_setup_simulation)
install(FILES moveit_setup_framework_plugins.xml
        DESTINATION share/moveit_setup_simulation)
install(DIRECTORY include/ DESTINATION include/moveit_setup_simulation)
```

--------------------------------

### Install Header Files

Source: https://github.com/moveit/moveit2/blob/main/moveit_kinematics/srv_kinematics_plugin/CMakeLists.txt

Installs the include directory to the specified destination.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_kinematics)
```

--------------------------------

### Installation Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/collision_distance_field/CMakeLists.txt

Defines the installation paths for header files and generated export headers.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_core)
install(
  FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_collision_distance_field_export.h
  DESTINATION include/moveit_core)
```

--------------------------------

### Install include directory

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/distance_field/CMakeLists.txt

Specifies the installation path for the library header files.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_core)
```

--------------------------------

### Installation and Export Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/chomp/chomp_interface/CMakeLists.txt

Configures installation paths, exports targets, and registers the plugin description file.

```cmake
install(
  TARGETS moveit_chomp_interface moveit_chomp_planner_plugin
  EXPORT moveit_planners_chompTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin)

ament_export_targets(moveit_planners_chompTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})

pluginlib_export_plugin_description_file(moveit_core
                                         chomp_interface_plugin_description.xml)

ament_package()
```

--------------------------------

### Plugin Export and Installation

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CMakeLists.txt

Exports the plugin description and installs the build artifacts.

```cmake
pluginlib_export_plugin_description_file(
  moveit_core prbt_manipulator_moveit_ikfast_plugin_description.xml)

install(
  TARGETS prbt_manipulator_moveit_ikfast_plugin
          prbt_ikfast_kinematics_parameters
  EXPORT moveit_resources_prbt_ikfast_manipulator_pluginTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_resources_prbt_ikfast_manipulator_plugin)

ament_export_targets(moveit_resources_prbt_ikfast_manipulator_pluginTargets
                     HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}
                          generate_parameter_library)

ament_package()
```

--------------------------------

### Install Library Files

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/planning/trajectory_execution_manager/CMakeLists.txt

Defines the installation paths for header files and generated export headers.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
install(
  FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_trajectory_execution_manager_export.h
  DESTINATION include/moveit_ros_planning)
```

--------------------------------

### IKFast Kinematics Plugin CMake Configuration

Source: https://github.com/moveit/moveit2/blob/main/moveit_kinematics/ikfast_kinematics_plugin/templates/CMakeLists.txt

Standard CMake setup for building a MoveIt IKFast plugin, including dependency resolution and library installation.

```cmake
cmake_minimum_required(VERSION 3.22)
project(_PACKAGE_NAME_)

if(NOT "${CMAKE_CXX_STANDARD}")
  set(CMAKE_CXX_STANDARD 14)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

find_package(ament_cmake REQUIRED)
find_package(moveit_core REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2_kdl REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(LAPACK REQUIRED)
find_package(generate_parameter_library REQUIRED)

include_directories(include)

generate_parameter_library(
  ikfast_kinematics_parameters # cmake target name for the parameter library
  src/ikfast_kinematics_parameters.yaml # path to input yaml file
)

set(IKFAST_LIBRARY_NAME _LIBRARY_NAME_)
add_library(${IKFAST_LIBRARY_NAME} SHARED
            src/_ROBOT_NAME___GROUP_NAME__ikfast_moveit_plugin.cpp)
# suppress warnings about unused variables in OpenRave's solver code
target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable
                                                      -Wno-unused-parameter)

target_link_libraries(
  ${IKFAST_LIBRARY_NAME}
  ikfast_kinematics_parameters
  rclcpp::rclcpp
  moveit_core::moveit_core
  pluginlib::pluginlib
  tf2_kdl::tf2_kdl
  ${orocos_kdl_LIBRARIES}
  tf2_eigen::tf2_eigen
  ${LAPACK_LIBRARIES})

install(
  TARGETS ${IKFAST_LIBRARY_NAME} ikfast_kinematics_parameters
  EXPORT ${PROJECT_NAME}Targets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin)

pluginlib_export_plugin_description_file(
  moveit_core _ROBOT_NAME___GROUP_NAME__moveit_ikfast_plugin_description.xml)

ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
ament_export_libraries(${IKFAST_LIBRARY_NAME})
ament_export_dependencies(moveit_core)
ament_export_dependencies(pluginlib)
ament_export_dependencies(rclcpp)
ament_export_dependencies(tf2_kdl)
ament_export_dependencies(tf2_eigen)
ament_export_dependencies(generate_parameter_library)
ament_package()
```

--------------------------------

### Install Test Executable

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/trajectory_cache/test/CMakeLists.txt

Installs the test executable to the project library directory.

```cmake
install(TARGETS test_trajectory_cache RUNTIME DESTINATION
  lib/${PROJECT_NAME})
```

--------------------------------

### Install Include Headers

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/perception/point_containment_filter/CMakeLists.txt

Specifies the installation directory for the project header files.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
```

--------------------------------

### Install Directories

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/CMakeLists.txt

Installs project directories including headers, launch files, and configuration files.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_servo)
install(DIRECTORY launch DESTINATION share/moveit_servo)
install(DIRECTORY config DESTINATION share/moveit_servo)
```

--------------------------------

### Launch the Hybrid Planning demo

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/hybrid_planning/README.md

Execute the provided launch file to start the hybrid planning demonstration.

```bash
ros2 launch moveit_hybrid_planning hybrid_planning_demo.launch.py
```

--------------------------------

### Install Headers

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/collision_detection_fcl/CMakeLists.txt

Installs the public headers and generated export headers for the library.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_core)
install(
  FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_collision_detection_fcl_export.h
  DESTINATION include/moveit_core)
```

--------------------------------

### Install Plugin Headers

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt

Specifies the installation directory for the plugin header files.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_ros_visualization)
```

--------------------------------

### Installation and Export Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner_testutils/CMakeLists.txt

Configures installation paths for the library and headers, and exports targets for downstream packages.

```cmake
install(
  TARGETS pilz_industrial_motion_planner_testutils
  EXPORT pilz_industrial_motion_planner_testutilsTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/pilz_industrial_motion_planner_testutils)

install(DIRECTORY include/
        DESTINATION include/pilz_industrial_motion_planner_testutils)

ament_export_targets(pilz_industrial_motion_planner_testutilsTargets
                     HAS_LIBRARY_TARGET)
ament_export_dependencies(rclcpp moveit_core moveit_msgs tf2_eigen)

ament_package()
```

--------------------------------

### Installation and Export Rules

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt

Configures installation paths for the library and exports targets for downstream packages.

```cmake
install(
  TARGETS chomp_motion_planner
  EXPORT chomp_motion_plannerTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/chomp_motion_planner)
install(DIRECTORY include/ DESTINATION include/chomp_motion_planner)

ament_export_targets(chomp_motion_plannerTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS})

ament_package()
```

--------------------------------

### Install library headers and test assets

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/planning/rdf_loader/CMakeLists.txt

Defines the installation directories for include files and test-related data.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
install(DIRECTORY test/data test/launch
        DESTINATION share/${PROJECT_NAME}/rdf_loader/test)
```

--------------------------------

### Register Plugins and Install Targets

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/visualization/CMakeLists.txt

Exports plugin descriptions and defines installation rules for the package.

```cmake
pluginlib_export_plugin_description_file(
  rviz_common motion_planning_rviz_plugin_description.xml)
pluginlib_export_plugin_description_file(rviz_common
                                         trajectory_rviz_plugin_description.xml)
pluginlib_export_plugin_description_file(
  rviz_common planning_scene_rviz_plugin_description.xml)
pluginlib_export_plugin_description_file(
  rviz_common robot_state_rviz_plugin_description.xml)

# Create an umbrella INTERFACE target so downstream packages can use
# moveit_ros_visualization::moveit_ros_visualization to link all libraries at
# once.
add_library(moveit_ros_visualization INTERFACE)
target_link_libraries(moveit_ros_visualization
                      INTERFACE ${THIS_PACKAGE_LIBRARIES})

install(
  TARGETS moveit_ros_visualization ${THIS_PACKAGE_LIBRARIES}
  EXPORT moveit_ros_visualizationTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_ros_visualization)

ament_export_targets(moveit_ros_visualizationTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})

ament_package(CONFIG_EXTRAS ConfigExtras.cmake)

include_directories("${OGRE_PREFIX_DIR}/include")
```

--------------------------------

### Install Test Targets and Assets

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/CMakeLists.txt

Configures the installation paths for test binaries, configuration files, and launch scripts.

```cmake
install(
  TARGETS ${UNIT_TEST_SOURCEFILES}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
```

--------------------------------

### Install MoveIt Servo Binaries

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/CMakeLists.txt

Installs the executable binaries for MoveIt Servo tools and demos.

```cmake
install(
  TARGETS demo_joint_jog demo_twist demo_pose servo_node servo_keyboard_input
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/moveit_servo)
```

--------------------------------

### Install Headers and Export Files

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/collision_detection_bullet/CMakeLists.txt

Defines installation rules for the library headers and generated export headers.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_core)
install(
  FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_collision_detection_bullet_export.h
  DESTINATION include/moveit_core)
```

--------------------------------

### Install moveit_py_utils Targets and Headers

Source: https://github.com/moveit/moveit2/blob/main/moveit_py/src/moveit/moveit_py_utils/CMakeLists.txt

Specifies installation destinations for the library binaries and header files.

```cmake
install(
  TARGETS moveit_py_utils
  EXPORT moveit_py_utilsTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin)

install(DIRECTORY include/ DESTINATION include/moveit_py)
```

--------------------------------

### Basic CMakeLists.txt for MoveIt Plugins

Source: https://github.com/moveit/moveit2/blob/main/moveit_plugins/moveit_plugins/CMakeLists.txt

Sets up the minimum CMake version, project name, and finds the ament_cmake package. It concludes by calling ament_package() to finalize package setup.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_plugins)
find_package(ament_cmake REQUIRED)

ament_package()
```

--------------------------------

### CMakeLists.txt for moveit_resources_prbt_pg70_support

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/test_configs/prbt_pg70_support/CMakeLists.txt

This is the main CMakeLists.txt file for the package. It sets up the project, finds dependencies, and defines installation rules for package resources.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_resources_prbt_pg70_support)

find_package(ament_cmake REQUIRED)
ament_package()

# ##############################################################################
# Install ##
# ##############################################################################
install(DIRECTORY config DESTINATION share/moveit_resources_prbt_pg70_support)
install(DIRECTORY meshes DESTINATION share/moveit_resources_prbt_pg70_support)
install(DIRECTORY urdf DESTINATION share/moveit_resources_prbt_pg70_support)
```

--------------------------------

### Interface Target and Installation

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/hybrid_planning/CMakeLists.txt

Creates an interface target for linking and defines installation rules for libraries and configuration files.

```cmake
# Create an umbrella INTERFACE target so downstream packages can use
# moveit_hybrid_planning::moveit_hybrid_planning to link all libraries at once.
add_library(moveit_hybrid_planning INTERFACE)
target_link_libraries(moveit_hybrid_planning INTERFACE ${LIBRARIES})

install(
  TARGETS moveit_hybrid_planning ${LIBRARIES}
  EXPORT moveit_hybrid_planningTargets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_hybrid_planning)

install(
  TARGETS cancel_action
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/moveit_hybrid_planning
  INCLUDES
  DESTINATION include/moveit_hybrid_planning)

install(DIRECTORY ${THIS_PACKAGE_INCLUDE_DIRS}
        DESTINATION include/moveit_hybrid_planning)

install(DIRECTORY test/launch DESTINATION share/moveit_hybrid_planning)
install(DIRECTORY test/config DESTINATION share/moveit_hybrid_planning)
```

--------------------------------

### Install Smoothing Headers

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/online_signal_smoothing/CMakeLists.txt

Installs the header files and generated export headers for the smoothing libraries.

```cmake
install(DIRECTORY include/ DESTINATION include/moveit_core)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_smoothing_base_export.h
        DESTINATION include/moveit_core)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_acceleration_filter_export.h
        DESTINATION include/moveit_core)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_butterworth_filter_export.h
        DESTINATION include/moveit_core)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_ruckig_filter_export.h
        DESTINATION include/moveit_core)
```

--------------------------------

### Basic MoveIt CMakeLists.txt Setup

Source: https://github.com/moveit/moveit2/blob/main/moveit/CMakeLists.txt

This snippet shows the essential CMake commands for initializing a MoveIt package. It sets the minimum required CMake version, defines the project name, and finds the necessary ament_cmake build system.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit)
find_package(ament_cmake REQUIRED)

ament_package()
```

--------------------------------

### Install MoveIt Version Header and Executable

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/version/CMakeLists.txt

Installs the generated version.hpp header file to the include directory and the 'moveit_version' executable to the bin directory.

```cmake
install(FILES "${CMAKE_BINARY_DIR}/include/moveit_core/moveit/version.hpp"
        DESTINATION include/moveit_core/moveit)
install(TARGETS moveit_version RUNTIME DESTINATION bin)
```

--------------------------------

### Install MoveIt Core Targets

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/CMakeLists.txt

Configures installation paths and export targets for the core libraries and plugins.

```cmake
install(
  TARGETS moveit_core
          moveit_collision_detection
          moveit_collision_detection_bullet
          moveit_collision_detection_fcl
          moveit_collision_distance_field
          moveit_constraint_samplers
          moveit_distance_field
          moveit_dynamics_solver
          moveit_exceptions
          moveit_kinematic_constraints
          moveit_kinematics_base
          moveit_kinematics_metrics
          moveit_macros
          moveit_planning_interface
          moveit_planning_scene
          moveit_robot_model
          moveit_robot_state
          moveit_robot_trajectory
          moveit_smoothing_base
          moveit_test_utils
          moveit_trajectory_processing
          moveit_transforms
          moveit_utils
  EXPORT moveit_coreTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin)
```

```cmake
install(
  TARGETS collision_detector_bullet_plugin
          collision_detector_fcl_plugin
          moveit_acceleration_filter
          moveit_acceleration_filter_parameters
          moveit_butterworth_filter
          moveit_butterworth_filter_parameters
          moveit_ruckig_filter
          moveit_ruckig_filter_parameters
  EXPORT moveit_core_pluginTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin)
```

--------------------------------

### Install MoveIt Servo Targets

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/CMakeLists.txt

Installs the core MoveIt Servo libraries and headers to the specified destination directories.

```cmake
install(
  TARGETS moveit_servo moveit_servo_lib_cpp moveit_servo_lib_ros
          moveit_servo_lib_parameters
  EXPORT moveit_servoTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_servo)
```

--------------------------------

### Retrieve SetupConfig Instance

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/README.md

Get a shared pointer to a generic SetupConfig instance by its name and class. The config_class specifies how to load it using pluginlib.

```cpp
SetupConfigPtr get(string config_name, string config_class)

```

--------------------------------

### Install Executable Target

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/utils/test/CMakeLists.txt

Installs the built executable to a destination directory, typically for runtime execution by testing frameworks.

```cmake
install(TARGETS logger_dut DESTINATION lib/${PROJECT_NAME})
```

--------------------------------

### Target Export and Installation

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/planning_interface/CMakeLists.txt

Creates an interface target for downstream packages and defines installation rules for libraries and headers.

```cmake
add_library(moveit_ros_planning_interface INTERFACE)
target_link_libraries(moveit_ros_planning_interface
                      INTERFACE ${THIS_PACKAGE_LIBRARIES})

install(
  TARGETS moveit_ros_planning_interface ${THIS_PACKAGE_LIBRARIES}
  EXPORT moveit_ros_planning_interfaceTargets
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_ros_planning_interface)

ament_export_targets(moveit_ros_planning_interfaceTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})

ament_package(CONFIG_EXTRAS ConfigExtras.cmake)
```

--------------------------------

### CMake Configuration for moveit_setup_controllers

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_controllers/CMakeLists.txt

The complete CMake configuration for the moveit_setup_controllers package, handling dependencies, library definition, and installation.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_setup_controllers LANGUAGES CXX)

# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(ament_index_cpp REQUIRED)
# rviz switched to Qt6 in version 15.1: https://github.com/ros2/rviz/pull/1635
find_package(rviz2 QUIET)
if(rviz2_VERSION VERSION_GREATER_EQUAL 15.1)
  find_package(Qt6 REQUIRED COMPONENTS Core Widgets)
  set(QT_VERSION_MAJOR 6)
  # Hint for transitive deps that use find_package(QT NAMES Qt6 Qt5 ...) which
  # may incorrectly resolve to Qt5 due to CMake's ascending path order
  set(QT_DIR "${Qt6_DIR}")
else()
  find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
  set(QT_VERSION_MAJOR 5)
endif()
find_package(moveit_setup_framework REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)

# Instruct CMake to run moc automatically when needed.
set(CMAKE_AUTOMOC ON)
add_definitions(-DQT_NO_KEYWORDS)

add_library(
  moveit_setup_controllers
  src/control_xacro_config.cpp
  src/controller_edit_widget.cpp
  src/controllers.cpp
  src/controllers_widget.cpp
  src/controllers_config.cpp
  src/modified_urdf_config.cpp
  src/moveit_controllers_config.cpp
  src/moveit_controllers_widget.cpp
  src/ros2_controllers_config.cpp
  src/ros2_controllers_widget.cpp
  src/urdf_modifications.cpp
  src/urdf_modifications_widget.cpp
  include/moveit_setup_controllers/controller_edit_widget.hpp
  include/moveit_setup_controllers/controllers_widget.hpp
  include/moveit_setup_controllers/urdf_modifications_widget.hpp)
target_include_directories(
  moveit_setup_controllers
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include/moveit_setup_controllers>)
target_link_libraries(
  moveit_setup_controllers ament_index_cpp::ament_index_cpp
  moveit_setup_framework::moveit_setup_framework pluginlib::pluginlib
  rclcpp::rclcpp)

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(test_controllers test/test_controllers.cpp)
  target_link_libraries(test_controllers moveit_setup_controllers)
endif()

install(DIRECTORY templates DESTINATION share/moveit_setup_controllers)

install(
  TARGETS moveit_setup_controllers
  EXPORT moveit_setup_controllersTargets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_setup_controllers)
install(FILES moveit_setup_framework_plugins.xml
        DESTINATION share/moveit_setup_controllers)
install(DIRECTORY include/ DESTINATION include/moveit_setup_controllers)
install(DIRECTORY launch DESTINATION share/moveit_setup_controllers)

ament_export_targets(moveit_setup_controllersTargets HAS_LIBRARY_TARGET)
pluginlib_export_plugin_description_file(moveit_setup_framework
                                         moveit_setup_framework_plugins.xml)

ament_package()
```

--------------------------------

### CMake Build Configuration

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_app_plugins/CMakeLists.txt

The primary CMake configuration for the moveit_setup_app_plugins package, handling dependencies, library definition, and installation.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_setup_app_plugins LANGUAGES CXX)

# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(ament_index_cpp REQUIRED)
# rviz switched to Qt6 in version 15.1: https://github.com/ros2/rviz/pull/1635
find_package(rviz2 QUIET)
if(rviz2_VERSION VERSION_GREATER_EQUAL 15.1)
  find_package(Qt6 REQUIRED COMPONENTS Core Widgets)
  set(QT_VERSION_MAJOR 6)
  # Hint for transitive deps that use find_package(QT NAMES Qt6 Qt5 ...) which
  # may incorrectly resolve to Qt5 due to CMake's ascending path order
  set(QT_DIR "${Qt6_DIR}")
else()
  find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
  set(QT_VERSION_MAJOR 5)
endif()
find_package(moveit_ros_visualization REQUIRED)
find_package(moveit_setup_framework REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)

# Instruct CMake to run moc automatically when needed.
set(CMAKE_AUTOMOC ON)
add_definitions(-DQT_NO_KEYWORDS)

add_library(
  moveit_setup_app_plugins
  src/launches.cpp
  src/launches_widget.cpp
  src/launches_config.cpp
  src/perception_config.cpp
  src/perception.cpp
  src/perception_widget.cpp
  include/moveit_setup_app_plugins/launches_widget.hpp
  include/moveit_setup_app_plugins/perception_widget.hpp)
target_include_directories(
  moveit_setup_app_plugins
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include/moveit_setup_app_plugins>)
target_link_libraries(
  moveit_setup_app_plugins
  ament_index_cpp::ament_index_cpp
  moveit_ros_visualization::moveit_ros_visualization
  moveit_setup_framework::moveit_setup_framework
  pluginlib::pluginlib
  rclcpp::rclcpp)

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(test_perception test/test_perception.cpp)
  target_link_libraries(test_perception moveit_setup_app_plugins)
endif()

install(DIRECTORY templates DESTINATION share/moveit_setup_app_plugins)

install(
  TARGETS moveit_setup_app_plugins
  EXPORT moveit_setup_app_pluginsTargets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_setup_app_plugins)
install(FILES moveit_setup_framework_plugins.xml
        DESTINATION share/moveit_setup_app_plugins)
install(DIRECTORY include/ DESTINATION include/moveit_setup_app_plugins)

ament_export_targets(moveit_setup_app_pluginsTargets HAS_LIBRARY_TARGET)
pluginlib_export_plugin_description_file(moveit_setup_framework
                                         moveit_setup_framework_plugins.xml)

ament_package()
```

--------------------------------

### CMake Build Configuration

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_core_plugins/CMakeLists.txt

The primary CMake configuration file for the moveit_setup_core_plugins package, handling dependencies, library definitions, and installation.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_setup_core_plugins LANGUAGES CXX)

# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(ament_index_cpp REQUIRED)
# rviz switched to Qt6 in version 15.1: https://github.com/ros2/rviz/pull/1635
find_package(rviz2 QUIET)
if(rviz2_VERSION VERSION_GREATER_EQUAL 15.1)
  find_package(Qt6 REQUIRED COMPONENTS Core Widgets)
  set(QT_VERSION_MAJOR 6)
  # Hint for transitive deps that use find_package(QT NAMES Qt6 Qt5 ...) which
  # may incorrectly resolve to Qt5 due to CMake's ascending path order
  set(QT_DIR "${Qt6_DIR}")
else()
  find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
  set(QT_VERSION_MAJOR 5)
endif()
find_package(moveit_ros_visualization REQUIRED)
find_package(moveit_setup_framework REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(srdfdom REQUIRED)
find_package(urdf REQUIRED)

# Instruct CMake to run moc automatically when needed.
set(CMAKE_AUTOMOC ON)
add_definitions(-DQT_NO_KEYWORDS)

add_library(
  ${PROJECT_NAME}
  src/start_screen.cpp
  src/start_screen_widget.cpp
  src/configuration_files.cpp
  src/configuration_files_widget.cpp
  src/author_information.cpp
  src/author_information_widget.cpp
  include/moveit_setup_core_plugins/start_screen_widget.hpp
  include/moveit_setup_core_plugins/configuration_files_widget.hpp
  include/moveit_setup_core_plugins/author_information_widget.hpp)
target_include_directories(
  ${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
                         $<INSTALL_INTERFACE:include/moveit_setup_core_plugins>)
target_link_libraries(
  ${PROJECT_NAME}
  ament_index_cpp::ament_index_cpp
  moveit_ros_visualization::moveit_ros_visualization
  moveit_setup_framework::moveit_setup_framework
  pluginlib::pluginlib
  rclcpp::rclcpp
  srdfdom::srdfdom
  urdf::urdf)

install(
  TARGETS moveit_setup_core_plugins
  EXPORT moveit_setup_core_pluginsTargets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES
  DESTINATION include/moveit_setup_core_plugins)
install(FILES moveit_setup_framework_plugins.xml
        DESTINATION share/${PROJECT_NAME})
install(DIRECTORY include/ DESTINATION include/moveit_setup_core_plugins)

ament_export_targets(moveit_setup_core_pluginsTargets HAS_LIBRARY_TARGET)
pluginlib_export_plugin_description_file(moveit_setup_framework
                                         moveit_setup_framework_plugins.xml)

ament_package()
```

--------------------------------

### Basic CMakeLists.txt for MoveIt Planners

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/moveit_planners/CMakeLists.txt

Sets the minimum CMake version, defines the project, and finds the ament_cmake package. This is a standard setup for ROS 2 packages.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_planners)

find_package(ament_cmake REQUIRED)

ament_package()
```

--------------------------------

### Define Executable Targets

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt

Defines the main setup assistant and updater executables, including their source files, include directories, and linked libraries.

```cmake
add_executable(
  moveit_setup_assistant src/main.cpp src/setup_assistant_widget.cpp
                         src/navigation_widget.cpp ${HEADERS})
target_include_directories(
  moveit_setup_assistant
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include/moveit_setup_assistant>)
target_link_libraries(
  moveit_setup_assistant
  ${Boost_LIBRARIES}
  ament_index_cpp::ament_index_cpp
  moveit_setup_framework::moveit_setup_framework
  moveit_setup_srdf_plugins::moveit_setup_srdf_plugins
  pluginlib::pluginlib
  Qt${QT_VERSION_MAJOR}::Core
  Qt${QT_VERSION_MAJOR}::Widgets
  rclcpp::rclcpp)
```

```cmake
add_executable(moveit_setup_assistant_updater src/collisions_updater.cpp)
target_include_directories(
  moveit_setup_assistant_updater
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include/moveit_setup_assistant>)

target_link_libraries(
  moveit_setup_assistant_updater
  ${Boost_LIBRARIES}
  ament_index_cpp::ament_index_cpp
  moveit_setup_framework::moveit_setup_framework
  moveit_setup_srdf_plugins::moveit_setup_srdf_plugins
  pluginlib::pluginlib
  Qt${QT_VERSION_MAJOR}::Core
  Qt${QT_VERSION_MAJOR}::Widgets
  rclcpp::rclcpp)
```

--------------------------------

### Retrieve Specific SetupConfig Instance

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/README.md

Get a shared pointer to a specific SetupConfig class instance using a template. This provides syntactic sugar for accessing specialized configurations.

```cpp
config_data_->get<URDFConfig>("urdf")

```

--------------------------------

### Package Initialization and Dependency Management

Source: https://github.com/moveit/moveit2/blob/main/moveit_plugins/moveit_ros_control_interface/CMakeLists.txt

Sets up the project, finds required dependencies, and includes common MoveIt configuration.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_ros_control_interface LANGUAGES CXX)

find_package(ament_cmake REQUIRED)

set(THIS_PACKAGE_INCLUDE_DEPENDS
    rclcpp_action controller_manager_msgs moveit_core
    moveit_simple_controller_manager pluginlib trajectory_msgs)

foreach(dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
  find_package(${dependency} REQUIRED)
endforeach()

# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()

# Finds Boost Components
include(ConfigExtras.cmake)
```

--------------------------------

### Project Initialization and Dependencies

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/ompl/CMakeLists.txt

Sets up the project requirements and finds necessary MoveIt and OMPL packages.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_planners_ompl LANGUAGES CXX)

# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()

find_package(Boost REQUIRED filesystem date_time thread serialization)
find_package(moveit_core REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(rclcpp REQUIRED)
find_package(pluginlib REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(ompl REQUIRED)
```

--------------------------------

### Library Definition and Linking

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt

Defines the moveit_setup_framework library, sets include directories, and links required dependencies.

```cmake
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)

add_library(
  moveit_setup_framework
  src/helper_widgets.cpp
  src/double_list_widget.cpp
  src/urdf_config.cpp
  src/package_settings_config.cpp
  src/srdf_config.cpp
  src/rviz_panel.cpp
  src/data_warehouse.cpp
  src/templates.cpp
  src/utilities.cpp
  src/xml_syntax_highlighter.cpp
  include/moveit_setup_framework/qt/helper_widgets.hpp
  include/moveit_setup_framework/qt/setup_step_widget.hpp
  include/moveit_setup_framework/qt/rviz_panel.hpp
  include/moveit_setup_framework/qt/double_list_widget.hpp)
target_include_directories(
  moveit_setup_framework
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include/moveit_setup_framework>)
target_link_libraries(
  moveit_setup_framework
  PUBLIC ament_index_cpp::ament_index_cpp
         fmt::fmt
         moveit_core::moveit_core
         moveit_ros_planning::moveit_ros_planning
         moveit_ros_visualization::moveit_ros_visualization
         pluginlib::pluginlib
         Qt${QT_VERSION_MAJOR}::Core
         Qt${QT_VERSION_MAJOR}::Widgets
         rclcpp::rclcpp
         rviz_common::rviz_common
         rviz_rendering::rviz_rendering
         srdfdom::srdfdom
         urdf::urdf)
```

--------------------------------

### Project Initialization and Dependencies

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/chomp/chomp_interface/CMakeLists.txt

Sets up the project requirements and locates necessary MoveIt and ROS 2 dependencies.

```cmake
cmake_minimum_required(VERSION 3.22)
project(moveit_planners_chomp LANGUAGES CXX)

# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(moveit_core REQUIRED)
find_package(chomp_motion_planner REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rsl REQUIRED)

set(THIS_PACKAGE_INCLUDE_DEPENDS moveit_core chomp_motion_planner moveit_core
                                 pluginlib rclcpp rsl)

include_directories(include)
```

--------------------------------

### Define Library and Build Targets

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_simulation/CMakeLists.txt

Sets up the library compilation, include directories, and links necessary dependencies.

```cmake
find_package(moveit_setup_framework REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)

# Instruct CMake to run moc automatically when needed.
set(CMAKE_AUTOMOC ON)
add_definitions(-DQT_NO_KEYWORDS)

add_library(
  moveit_setup_simulation src/simulation.cpp src/simulation_widget.cpp
                          include/moveit_setup_simulation/simulation_widget.hpp)
target_include_directories(
  moveit_setup_simulation
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include/moveit_setup_simulation>)
target_link_libraries(
  moveit_setup_simulation ament_index_cpp::ament_index_cpp
  moveit_setup_framework::moveit_setup_framework pluginlib::pluginlib
  rclcpp::rclcpp)
```

--------------------------------

### Define Build Targets and Dependencies

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/visualization/CMakeLists.txt

Sets up the library lists and include directories for the visualization plugins.

```cmake
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
add_definitions(-DQT_NO_KEYWORDS)

set(THIS_PACKAGE_LIBRARIES
    moveit_motion_planning_rviz_plugin
    moveit_motion_planning_rviz_plugin_core
    moveit_planning_scene_rviz_plugin
    moveit_planning_scene_rviz_plugin_core
    moveit_robot_state_rviz_plugin
    moveit_robot_state_rviz_plugin_core
    moveit_rviz_plugin_render_tools
    moveit_trajectory_rviz_plugin
    moveit_trajectory_rviz_plugin_core)

set(THIS_PACKAGE_INCLUDE_DEPENDS
    class_loader
    geometric_shapes
    interactive_markers
    moveit_ros_planning
    moveit_ros_planning_interface
    moveit_msgs
    moveit_core
    moveit_ros_warehouse
    octomap_msgs
    moveit_ros_robot_interaction
    object_recognition_msgs
    pluginlib
    rclcpp
    rclcpp_action
    rclpy
    rviz2
    tf2_eigen
    Eigen3
    rviz_ogre_vendor
    rviz_common
    rviz_default_plugins)

include_directories(
  rviz_plugin_render_tools/include robot_state_rviz_plugin/include
  planning_scene_rviz_plugin/include motion_planning_rviz_plugin/include
  trajectory_rviz_plugin/include)
```

--------------------------------

### Launch MoveIt with Pilz Planner

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/acceptance_test_lin.md

Launches the MoveIt motion planning framework with the Pilz industrial motion planner enabled. This is a prerequisite for using the LIN motion planner.

```bash
roslaunch moveit_resources_prbt_moveit_config demo.launch pipeline:=pilz_industrial_motion_planner
```

--------------------------------

### Link Dependencies and Install Headers

Source: https://github.com/moveit/moveit2/blob/main/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt

Configures library linking for OpenMP and ROS 2 dependencies, and defines the installation path for header files.

```cmake
if(APPLE)
  target_link_libraries(moveit_lazy_free_space_updater OpenMP::OpenMP_CXX)
endif()
target_link_libraries(
  moveit_lazy_free_space_updater rclcpp::rclcpp
  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
  ${sensor_msgs_TARGETS})

install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
```

--------------------------------

### Fixing MoveIt Setup Assistant Templates

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst

This commit addresses and fixes issues found within the MoveIt Setup Assistant (MSA) templates. These fixes ensure that the generated configuration files are correct and functional.

```xml
Fix MSA templates (`#2769 <https://github.com/ros-planning/moveit/issues/2769>`_)

```

--------------------------------

### Fixing Setup Assistant Custom Planner Namespace Problem

Source: https://github.com/moveit/moveit2/blob/main/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst

This resolves a problem within the MoveIt Setup Assistant related to the namespace of custom planners. It ensures that custom planners are correctly configured and accessible within their designated namespaces.

```xml
Fixes setup_assistant custom planner ns problem (`#2842 <https://github.com/ros-planning/moveit/issues/2842>`_)

```

--------------------------------

### Configure include directories

Source: https://github.com/moveit/moveit2/blob/main/moveit_core/kinematics_metrics/CMakeLists.txt

Sets public include directories for both build and install interfaces.

```cmake
target_include_directories(
  moveit_kinematics_metrics
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include/moveit_core>)
```

--------------------------------

### Conditional Testing Block

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt

Starts a conditional block for building tests when BUILD_TESTING is enabled.

```cmake
if(BUILD_TESTING)
```

--------------------------------

### Project Initialization and Dependencies

Source: https://github.com/moveit/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt

Sets the minimum CMake version, project name, and initializes MoveIt common package settings.

```cmake
cmake_minimum_required(VERSION 3.22)
project(pilz_industrial_motion_planner LANGUAGES CXX)

# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()
```