Expose plugins to use snp_motion_planning as a library

[nikhil-sethi]

Description

We want to use the snp_motion_planning/src/tasks headers in external repositories. So we need to expose this repository as a library and let the client code use the headers from the include folder.

Changes

• Headers were moved to an include folder
• References to header files were updated accordingly in the source files.
• CMakeLists.txt was updated to link properly and only expose the _tasks

Testing

To include the headers and library in your ROS2 client package do the following in the CMakeLists:

find_package(snp_motion_planning REQUIRED)
find_package(tesseract_kinematics REQUIRED)
...

set(dependencies
..
snp_motion_planning
)

...
target_link_libraries(${PROJECT_NAME}
...
...
  snp_motion_planning::snp_motion_planning_tasks
)

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✨ Finishing touches

🧪 Generate unit tests

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch expose_plugins

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[gavanderhoorn]

Would it not have been sufficient to update/change the install(..) statement without moving the headers? Would result in a smaller changeset and easier to maintain.

[nikhil-sethi]

Would it not have been sufficient to update/change the install(..) statement without moving the headers? Would result in a smaller changeset and easier to maintain.

I don't know how to do that. I'm just following standard cpp/ROS convention of keeping header files in an include folder.