
add_executable(moveit_print_planning_model_info src/print_planning_model_info.cpp)
target_link_libraries(moveit_print_planning_model_info moveit_robot_model_loader ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(moveit_print_planning_scene_info src/print_planning_scene_info.cpp)
target_link_libraries(moveit_print_planning_scene_info moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(moveit_display_random_state src/display_random_state.cpp)
target_link_libraries(moveit_display_random_state moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(moveit_visualize_robot_collision_volume src/visualize_robot_collision_volume.cpp)
target_link_libraries(moveit_visualize_robot_collision_volume moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(moveit_evaluate_collision_checking_speed src/evaluate_collision_checking_speed.cpp)
target_link_libraries(moveit_evaluate_collision_checking_speed moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})

if("${catkin_LIBRARIES}" MATCHES "moveit_collision_detection_bullet")
  add_executable(moveit_compare_collision_checking_speed_fcl_bullet src/compare_collision_speed_checking_fcl_bullet.cpp)
  target_link_libraries(moveit_compare_collision_checking_speed_fcl_bullet moveit_planning_scene_monitor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
endif()

add_executable(moveit_kinematics_speed_and_validity_evaluator src/kinematics_speed_and_validity_evaluator.cpp)
target_link_libraries(moveit_kinematics_speed_and_validity_evaluator moveit_robot_model_loader ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(moveit_evaluate_state_operations_speed src/evaluate_state_operations_speed.cpp)
target_link_libraries(moveit_evaluate_state_operations_speed  moveit_robot_model_loader ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(moveit_publish_scene_from_text src/publish_scene_from_text.cpp)
target_link_libraries(moveit_publish_scene_from_text moveit_planning_scene_monitor moveit_robot_model_loader ${catkin_LIBRARIES} ${Boost_LIBRARIES})

install(TARGETS
  moveit_print_planning_model_info
  moveit_print_planning_scene_info
  moveit_display_random_state
  moveit_visualize_robot_collision_volume
  moveit_evaluate_collision_checking_speed
  moveit_evaluate_state_operations_speed
  moveit_kinematics_speed_and_validity_evaluator
  moveit_publish_scene_from_text
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
