update file cmake

2026-03-30 08:00:01 +00:00
parent 603ea7ff6b
commit 4a84452dc5
5 changed files with 83 additions and 105 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,22 +20,17 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)

 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 add_compile_options(-Wall -Wextra -Wpedantic)

 # ========================================================
-# Dependencies common
+# Dependencies
 # ========================================================
 find_package(Boost REQUIRED COMPONENTS thread)
-find_package(Eigen3 REQUIRED CONFIG)
-if(NOT EIGEN3_INCLUDE_DIRS AND Eigen3_INCLUDE_DIRS)
-  set(EIGEN3_INCLUDE_DIRS ${Eigen3_INCLUDE_DIRS})
-endif()
-if(NOT EIGEN3_LIBRARIES AND Eigen3_LIBRARIES)
-  set(EIGEN3_LIBRARIES ${Eigen3_LIBRARIES})
-endif()
+find_package(Eigen3 REQUIRED)

 # ========================================================
-# Catkin
+# Catkin configuration
 # ========================================================
 if(BUILDING_WITH_CATKIN)

@@ -49,31 +44,13 @@ if(BUILDING_WITH_CATKIN)
    robot_cpp
    tf3
    robot_tf3_geometry_msgs
-    voxel_grid
+    robot_voxel_grid
    data_convert
  )

-
-  # generate_messages(
-  #   DEPENDENCIES std_msgs
-  # )
-
-endif()
-
-# ========================================================
-# Dynamic reconfigure (only for Catkin)
-# ========================================================
-if(BUILDING_WITH_CATKIN)
-
-  # set(CATKIN_ENV_HOOK_CMAKE_PATH_SETUP_CUSTOM_PYTHONPATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake/setup_custom_pythonpath.sh.in)
-
-  # generate_dynamic_reconfigure_options(
-  #   cfg/BaseLocalPlanner.cfg
-  # )
-
  catkin_package(
    INCLUDE_DIRS include
-    LIBRARIES robot_base_local_planner
+    LIBRARIES ${PROJECT_NAME}
    CATKIN_DEPENDS
      robot_angles
      robot_costmap_2d
@@ -86,42 +63,53 @@ if(BUILDING_WITH_CATKIN)
      robot_tf3_geometry_msgs
      robot_voxel_grid
      data_convert
-    DEPENDS Boost
-  )
-
-  include_directories(
-    include
-    ${catkin_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIRS}
-    ${Boost_INCLUDE_DIRS}
+    DEPENDS Boost Eigen3
  )

 else()

-  # =========================
-  # Standalone build
-  # =========================
+# ========================================================
+# Standalone configuration
+# ========================================================
+
  set(CMAKE_POSITION_INDEPENDENT_CODE ON)

  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")

+  set(PACKAGES_DIR
+    robot_angles
+    robot_costmap_2d
+    robot_std_msgs
+    robot_geometry_msgs
+    robot_sensor_msgs
+    robot_nav_msgs
+    robot_cpp
+    tf3
+    robot_tf3_geometry_msgs
+    robot_voxel_grid
+    data_convert
+  )
+
 endif()

 # ========================================================
 # Check headers
 # ========================================================
 include(CheckIncludeFile)
+
 check_include_file(sys/time.h HAVE_SYS_TIME_H)
+
 if(HAVE_SYS_TIME_H)
  add_definitions(-DHAVE_SYS_TIME_H)
 endif()

 # ========================================================
-# Libraries
+# Library
 # ========================================================
-add_library(robot_base_local_planner SHARED
+add_library(${PROJECT_NAME} SHARED
+
  src/footprint_helper.cpp
  src/goal_functions.cpp
  src/map_cell.cpp
@@ -140,39 +128,63 @@ add_library(robot_base_local_planner SHARED
  src/voxel_grid_model.cpp
 )

-if(BUILDING_WITH_CATKIN)
-  add_dependencies(robot_base_local_planner
-    # ${PROJECT_NAME}_gencfg
-    # ${PROJECT_NAME}_generate_messages_cpp
-    # nav_msgs_generate_messages_cpp
-    ${catkin_EXPORTED_TARGETS}
-  )
-endif()
+# ========================================================
+# Include directories
+# ========================================================
+target_include_directories(${PROJECT_NAME}

-target_include_directories(robot_base_local_planner
  PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
+
 )

-target_link_libraries(robot_base_local_planner
-  PUBLIC
-    ${Boost_LIBRARIES}
-    Eigen3::Eigen
-)
-
+# ========================================================
+# Dependencies
+# ========================================================
 if(BUILDING_WITH_CATKIN)
-  target_link_libraries(robot_base_local_planner PUBLIC ${catkin_LIBRARIES})
-endif()

+  add_dependencies(${PROJECT_NAME}
+    ${catkin_EXPORTED_TARGETS}
+  )
+
+  target_link_libraries(${PROJECT_NAME}
+
+    PUBLIC
+      ${catkin_LIBRARIES}
+
+    PRIVATE
+      Boost::thread
+      Eigen3::Eigen
+  )
+
+else()
+
+  target_link_libraries(${PROJECT_NAME}
+
+    PUBLIC
+      ${PACKAGES_DIR}
+
+    PRIVATE
+      Boost::thread
+      Eigen3::Eigen
+  )
+
+  set_target_properties(${PROJECT_NAME} PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
+  )
+
+endif()

 # ========================================================
 # Install
 # ========================================================
 if(BUILDING_WITH_CATKIN)

-  install(TARGETS
-    robot_base_local_planner
+  install(TARGETS ${PROJECT_NAME}
+
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
@@ -184,14 +196,7 @@ if(BUILDING_WITH_CATKIN)

 else()

-  set_target_properties(robot_base_local_planner PROPERTIES
-    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
-    BUILD_RPATH "${CMAKE_BINARY_DIR}"
-    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
-  )
-
-  install(TARGETS
-    robot_base_local_planner
+  install(TARGETS ${PROJECT_NAME}
    EXPORT ${PROJECT_NAME}-targets
    LIBRARY DESTINATION lib
    ARCHIVE DESTINATION lib
@@ -207,38 +212,11 @@ else()
    DESTINATION include
  )

-  install(FILES blp_plugin.xml
-    DESTINATION share/${PROJECT_NAME}
-  )
-
  message(STATUS "=================================")
  message(STATUS "Project: ${PROJECT_NAME}")
+  message(STATUS "Version: ${PROJECT_VERSION}")
  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
-  message(STATUS "Libraries: robot_base_local_planner")
+  message(STATUS "Libraries: ${PROJECT_NAME}")
  message(STATUS "=================================")

 endif()
-
-# ========================================================
-# Testing
-# ========================================================
-# if(BUILDING_WITH_CATKIN AND CATKIN_ENABLE_TESTING)
-#   find_package(rostest REQUIRED)
-
-#   catkin_add_gtest(base_local_planner_utest
-#     test/gtest_main.cpp
-#     test/utest.cpp
-#     test/velocity_iterator_test.cpp
-#     test/footprint_helper_test.cpp
-#     test/trajectory_generator_test.cpp
-#     test/map_grid_test.cpp
-#   )
-
-#   target_link_libraries(base_local_planner_utest
-#     robot_base_local_planner
-#   )
-
-#   catkin_add_gtest(line_iterator
-#     test/line_iterator_test.cpp
-#   )
-# endif()
--- a/cfg/BaseLocalPlanner.cfg
+++ b/cfg/BaseLocalPlanner.cfg
--- a/cfg/LocalPlannerLimits.cfg
+++ b/cfg/LocalPlannerLimits.cfg
--- a/include/robot_base_local_planner/goal_functions.h
+++ b/include/robot_base_local_planner/goal_functions.h
@@ -38,8 +38,8 @@
 #define ROBOT_BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_

 #include <robot/robot.h>
-#include <nav_msgs/Odometry.h>
-#include <nav_msgs/Path.h>
+#include <robot_nav_msgs/Odometry.h>
+#include <robot_nav_msgs/Path.h>
 #include <robot_geometry_msgs/PoseStamped.h>
 #include <robot_geometry_msgs/Twist.h>
 #include <robot_geometry_msgs/Point.h>
@@ -136,7 +136,7 @@ namespace robot_base_local_planner {
      const robot_costmap_2d::Costmap2D& costmap,
      const std::string& global_frame,
      robot_geometry_msgs::PoseStamped& global_pose,
-      const nav_msgs::Odometry& base_odom,
+      const robot_nav_msgs::Odometry& base_odom,
      double rot_stopped_vel, double trans_stopped_vel,
      double xy_goal_tolerance, double yaw_goal_tolerance);

@@ -147,7 +147,7 @@ namespace robot_base_local_planner {
   * @param trans_stopped_velocity The translational velocity below which the robot is considered stopped
   * @return True if the robot is stopped, false otherwise
   */
-  bool stopped(const nav_msgs::Odometry& base_odom, 
+  bool stopped(const robot_nav_msgs::Odometry& base_odom, 
      const double& rot_stopped_velocity,
      const double& trans_stopped_velocity);
 }
--- a/src/goal_functions.cpp
+++ b/src/goal_functions.cpp
@@ -61,7 +61,7 @@ namespace robot_base_local_planner {
  //     return;

  //   //create a path message
-  //   nav_msgs::Path gui_path;
+  //   robot_nav_msgs::Path gui_path;
  //   gui_path.poses.resize(path.size());
  //   gui_path.header.frame_id = path[0].header.frame_id;
  //   gui_path.header.stamp = path[0].header.stamp;
@@ -221,7 +221,7 @@ namespace robot_base_local_planner {
      const robot_costmap_2d::Costmap2D& costmap GOAL_ATTRIBUTE_UNUSED,
      const std::string& global_frame,
      robot_geometry_msgs::PoseStamped& global_pose,
-      const nav_msgs::Odometry& base_odom,
+      const robot_nav_msgs::Odometry& base_odom,
      double rot_stopped_vel, double trans_stopped_vel,
      double xy_goal_tolerance, double yaw_goal_tolerance){

@@ -246,7 +246,7 @@ namespace robot_base_local_planner {
    return false;
  }

-  bool stopped(const nav_msgs::Odometry& base_odom, 
+  bool stopped(const robot_nav_msgs::Odometry& base_odom, 
      const double& rot_stopped_velocity, const double& trans_stopped_velocity){
    return fabs(base_odom.twist.twist.angular.z) <= rot_stopped_velocity 
      && fabs(base_odom.twist.twist.linear.x) <= trans_stopped_velocity