sam-xl · nikhil-sethi · Sep 17, 2025 · Sep 17, 2025 · Sep 17, 2025
diff --git a/snp_motion_planning/CMakeLists.txt b/snp_motion_planning/CMakeLists.txt
@@ -9,6 +9,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+include_directories(
+ include
+)
+
 set(ROS2_DEPS
     rclcpp
     snp_msgs
@@ -70,18 +74,9 @@ target_link_libraries(
   tesseract::tesseract_kinematics_kdl
   yaml-cpp)
 
-# Plugin Library
-add_library(${PROJECT_NAME}_plugins SHARED src/plugins/kinematics/motoman_hc10_ikfast_plugin.cpp)
-target_link_libraries(${PROJECT_NAME}_plugins PUBLIC ${LAPACK_LIBRARIES} tesseract::tesseract_common
-                                                     tesseract::tesseract_kinematics_ikfast)
-target_include_directories(${PROJECT_NAME}_plugins SYSTEM PUBLIC ${LAPACK_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
-
 # Install the executable(s)
 install(TARGETS ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME})
 
-# Install the library(ies)
-install(TARGETS ${PROJECT_NAME}_plugins ${PROJECT_NAME}_tasks EXPORT ${PROJECT_NAME}-targets DESTINATION lib)
-
 # Install Python modules
 ament_python_install_package(${PROJECT_NAME})
 # Install Python executables
@@ -91,14 +86,27 @@ install(PROGRAMS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
+
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+ament_export_include_directories(include)
 ament_export_dependencies(${ROS2_DEPS})
-ament_export_targets(${PROJECT_NAME}-targets HAS_LIBRARY_TARGET)
-ament_package()
+ament_export_targets(${PROJECT_NAME}_tasks HAS_LIBRARY_TARGET)
 
 install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME}/)
+
+install(
+  TARGETS ${PROJECT_NAME}_tasks
+  EXPORT ${PROJECT_NAME}_tasks
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+
+)
+ament_package()
diff --git a/snp_motion_planning/src/planner_profiles.hpp → .../snp_motion_planning/planner_profiles.hpp b/snp_motion_planning/src/planner_profiles.hpp → .../snp_motion_planning/planner_profiles.hpp
diff --git a/...kinematics/motoman_hc10_ikfast_solver.hpp → ...kinematics/motoman_hc10_ikfast_solver.hpp b/...kinematics/motoman_hc10_ikfast_solver.hpp → ...kinematics/motoman_hc10_ikfast_solver.hpp
diff --git a/...stant_tcp_speed_time_parameterization.hpp → ...stant_tcp_speed_time_parameterization.hpp b/...stant_tcp_speed_time_parameterization.hpp → ...stant_tcp_speed_time_parameterization.hpp
diff --git a/...tcp_speed_time_parameterization_profile.h → ...tcp_speed_time_parameterization_profile.h b/...tcp_speed_time_parameterization_profile.h → ...tcp_speed_time_parameterization_profile.h
diff --git a/...ns/tasks/kinematic_limits_check_profile.h → ...ns/tasks/kinematic_limits_check_profile.h b/...ns/tasks/kinematic_limits_check_profile.h → ...ns/tasks/kinematic_limits_check_profile.h
diff --git a/...g/src/plugins/tasks/tcp_speed_limiter.hpp → ...nning/plugins/tasks/tcp_speed_limiter.hpp b/...g/src/plugins/tasks/tcp_speed_limiter.hpp → ...nning/plugins/tasks/tcp_speed_limiter.hpp
diff --git a/...plugins/tasks/tcp_speed_limiter_profile.h → ...plugins/tasks/tcp_speed_limiter_profile.h b/...plugins/tasks/tcp_speed_limiter_profile.h → ...plugins/tasks/tcp_speed_limiter_profile.h
diff --git a/snp_motion_planning/src/planning_server.cpp b/snp_motion_planning/src/planning_server.cpp
@@ -1,7 +1,7 @@
-#include "planner_profiles.hpp"
-#include "plugins/tasks/constant_tcp_speed_time_parameterization_profile.h"
-#include "plugins/tasks/kinematic_limits_check_profile.h"
-#include "plugins/tasks/tcp_speed_limiter_profile.h"
+#include "snp_motion_planning/planner_profiles.hpp"
+#include "snp_motion_planning/plugins/tasks/constant_tcp_speed_time_parameterization_profile.h"
+#include "snp_motion_planning/plugins/tasks/kinematic_limits_check_profile.h"
+#include "snp_motion_planning/plugins/tasks/tcp_speed_limiter_profile.h"
 
 #include <rclcpp/rclcpp.hpp>
 #include <snp_msgs/srv/generate_motion_plan.hpp>

diff --git a/snp_motion_planning/src/plugins/kinematics/motoman_hc10_ikfast_plugin.cpp b/snp_motion_planning/src/plugins/kinematics/motoman_hc10_ikfast_plugin.cpp
@@ -24,7 +24,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <tesseract_kinematics/core/kinematics_plugin_factory.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_scene_graph/joint.h>
-#include "motoman_hc10_ikfast_solver.hpp"
+#include "snp_motion_planning/plugins/kinematics/motoman_hc10_ikfast_solver.hpp"
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 

diff --git a/snp_motion_planning/src/plugins/tasks/constant_tcp_speed_time_parameterization_profile.cpp b/snp_motion_planning/src/plugins/tasks/constant_tcp_speed_time_parameterization_profile.cpp
@@ -1,4 +1,4 @@
-#include "constant_tcp_speed_time_parameterization_profile.h"
+#include "snp_motion_planning/plugins/tasks/constant_tcp_speed_time_parameterization_profile.h"
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <typeindex>

diff --git a/snp_motion_planning/src/plugins/tasks/constant_tcp_speed_time_parameterization_task.cpp b/snp_motion_planning/src/plugins/tasks/constant_tcp_speed_time_parameterization_task.cpp
@@ -1,5 +1,5 @@
-#include "constant_tcp_speed_time_parameterization.hpp"
-#include "constant_tcp_speed_time_parameterization_profile.h"
+#include "snp_motion_planning/plugins/tasks/constant_tcp_speed_time_parameterization.hpp"
+#include "snp_motion_planning/plugins/tasks/constant_tcp_speed_time_parameterization_profile.h"
 
 #include <tesseract_task_composer/core/task_composer_plugin_factory_utils.h>
 

diff --git a/snp_motion_planning/src/plugins/tasks/kinematic_limits_check_profile.cpp b/snp_motion_planning/src/plugins/tasks/kinematic_limits_check_profile.cpp
@@ -1,4 +1,4 @@
-#include "kinematic_limits_check_profile.h"
+#include "snp_motion_planning/plugins/tasks/kinematic_limits_check_profile.h"
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <typeindex>

diff --git a/snp_motion_planning/src/plugins/tasks/kinematic_limits_check_task.cpp b/snp_motion_planning/src/plugins/tasks/kinematic_limits_check_task.cpp
@@ -1,4 +1,4 @@
-#include "kinematic_limits_check_profile.h"
+#include "snp_motion_planning/plugins/tasks/kinematic_limits_check_profile.h"
 
 #include <tesseract_task_composer/core/task_composer_plugin_factory_utils.h>
 

diff --git a/snp_motion_planning/src/plugins/tasks/task_composer_plugin_factory.cpp b/snp_motion_planning/src/plugins/tasks/task_composer_plugin_factory.cpp
@@ -1,7 +1,7 @@
 #include <tesseract_task_composer/task_composer_task_plugin_factory.h>
 #include <tesseract_task_composer/task_composer_graph.h>
 
-#include "constant_tcp_speed_time_parameterization_task.hpp"
+#include "snp_motion_planning/plugins/tasks/constant_tcp_speed_time_parameterization_task.hpp"
 
 namespace snp_motion_planning
 {

diff --git a/snp_motion_planning/src/plugins/tasks/tcp_speed_limiter_profile.cpp b/snp_motion_planning/src/plugins/tasks/tcp_speed_limiter_profile.cpp
@@ -1,4 +1,4 @@
-#include "tcp_speed_limiter_profile.h"
+#include "snp_motion_planning/plugins/tasks/tcp_speed_limiter_profile.h"
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <typeindex>

diff --git a/snp_motion_planning/src/plugins/tasks/tcp_speed_limiter_task.cpp b/snp_motion_planning/src/plugins/tasks/tcp_speed_limiter_task.cpp
@@ -1,5 +1,5 @@
-#include "tcp_speed_limiter_profile.h"
-#include "tcp_speed_limiter.hpp"
+#include "snp_motion_planning/plugins/tasks/tcp_speed_limiter_profile.h"
+#include "snp_motion_planning/plugins/tasks/tcp_speed_limiter.hpp"
 
 #include <tesseract_task_composer/core/task_composer_plugin_factory_utils.h>