update file cmake

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)
+find_package(Eigen3 REQUIRED)
-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()
 
 # ========================================================
-# 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
+    DEPENDS Boost Eigen3
-  )
-
-  include_directories(
-    include
-    ${catkin_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIRS}
-    ${Boost_INCLUDE_DIRS}
   )
 
 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
+# Include directories
-    # ${PROJECT_NAME}_gencfg
+# ========================================================
-    # ${PROJECT_NAME}_generate_messages_cpp
+target_include_directories(${PROJECT_NAME}
-    # nav_msgs_generate_messages_cpp
-    ${catkin_EXPORTED_TARGETS}
-  )
-endif()
 
-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
+# ========================================================
+# Dependencies
+# ========================================================
+if(BUILDING_WITH_CATKIN)
+
+  add_dependencies(${PROJECT_NAME}
+    ${catkin_EXPORTED_TARGETS}
+  )
+
+  target_link_libraries(${PROJECT_NAME}
+
     PUBLIC
-    ${Boost_LIBRARIES}
+      ${catkin_LIBRARIES}
+
+    PRIVATE
+      Boost::thread
       Eigen3::Eigen
   )
 
-if(BUILDING_WITH_CATKIN)
+else()
-  target_link_libraries(robot_base_local_planner PUBLIC ${catkin_LIBRARIES})
-endif()
 
+  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
+  install(TARGETS ${PROJECT_NAME}
-    robot_base_local_planner
+
     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
+  install(TARGETS ${PROJECT_NAME}
-    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
-    BUILD_RPATH "${CMAKE_BINARY_DIR}"
-    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
-  )
-
-  install(TARGETS
-    robot_base_local_planner
     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()

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 <robot_nav_msgs/Odometry.h>
-#include <nav_msgs/Path.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);
 }

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