add_library(moveit_kinematics_plugin_loader SHARED
            src/kinematics_plugin_loader.cpp)
set_target_properties(moveit_kinematics_plugin_loader
                      PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
generate_parameter_library(
  kinematics_parameters # cmake target name for the parameter library
  src/kinematics_parameters.yaml # path to input yaml file
)

target_link_libraries(
  moveit_kinematics_plugin_loader
  moveit_rdf_loader
  kinematics_parameters
  rclcpp::rclcpp
  urdf::urdf
  pluginlib::pluginlib
  moveit_core::moveit_core)

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)
