DuongTD/costmap_2d
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update to tf3

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This commit is contained in:
duongtd
2025-11-17 15:04:11 +07:00
parent 42840e3bbc
commit 0c61984d3e
12 changed files with 749 additions and 220 deletions
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130
CMakeLists.txt
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@@ -1,118 +1,3 @@
# cmake_minimum_required(VERSION 3.10)
# project(costmap_2d)
# set(CMAKE_CXX_STANDARD 17)
# set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# find_package(tf2 REQUIRED)
# if (NOT TARGET sensor_msgs)
# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
# endif()
# if (NOT TARGET geometry_msgs)
# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
# endif()
# if (NOT TARGET nav_msgs)
# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build)
# endif()
# if (NOT TARGET map_msgs)
# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build)
# endif()
# # ---- Dependencies ----
# find_package(Eigen3 REQUIRED)
# find_package(Boost REQUIRED COMPONENTS system thread)
# find_package(GTest REQUIRED)
# find_package(PCL REQUIRED COMPONENTS common io)
# include_directories(
# include
# ${EIGEN3_INCLUDE_DIRS}
# ${Boost_INCLUDE_DIRS}
# ${GTEST_INCLUDE_DIRS}
# ${PCL_INCLUDE_DIRS}
# /usr/include
# )
# link_directories(${PCL_LIBRARY_DIRS})
# add_definitions(${EIGEN3_DEFINITIONS}
# ${PCL_DEFINITIONS})
# # ---- Core costmap_2d library ----
# add_library(costmap_2d
# src/array_parser.cpp
# src/costmap_2d.cpp
# src/observation_buffer.cpp
# src/layer.cpp
# src/layered_costmap.cpp
# src/costmap_math.cpp
# src/footprint.cpp
# src/costmap_layer.cpp
# )
# target_link_libraries(costmap_2d
# ${Boost_LIBRARIES}
# std_msgs
# sensor_msgs
# geometry_msgs
# nav_msgs
# map_msgs
# # tf2
# )
# target_include_directories(costmap_2d PRIVATE ${Boost_INCLUDE_DIRS})
# # # ---- Layer plugins ----
# add_library(layers SHARED
# # plugins/inflation_layer.cpp
# # plugins/obstacle_layer.cpp
# plugins/static_layer.cpp
# # plugins/voxel_layer.cpp
# # plugins/preferred_layer.cpp
# # plugins/unpreferred_layer.cpp
# # plugins/critical_layer.cpp
# # plugins/directional_layer.cpp
# )
# target_link_libraries(layers
# costmap_2d
# ${Boost_LIBRARIES}
# yaml-cpp
# )
# # ---- Example Executable ----
# add_executable(test_array_parser test/array_parser_test.cpp)
# add_executable(test_costmap test/coordinates_test.cpp)
# add_executable(test_plugin test/static_layer_test.cpp)
# target_link_libraries(test_array_parser PRIVATE costmap_2d
# PRIVATE GTest::GTest
# PRIVATE GTest::Main
# PRIVATE pthread)
# target_link_libraries(test_costmap PRIVATE costmap_2d
# PRIVATE GTest::GTest
# PRIVATE GTest::Main
# PRIVATE pthread)
# target_link_libraries(test_plugin PRIVATE
# # /usr/lib/libtf2.so
# tf2
# costmap_2d
# ${Boost_LIBRARIES}
# Boost::filesystem
# Boost::system
# dl
# pthread
# yaml-cpp)
# set_target_properties(test_plugin PROPERTIES
# BUILD_RPATH "${CMAKE_BINARY_DIR}/costmap_2d"
# INSTALL_RPATH "${CMAKE_BINARY_DIR}/costmap_2d"
# )
cmake_minimum_required(VERSION 3.10)
project(costmap_2d)
@@ -132,7 +17,7 @@ find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread filesystem)
find_package(GTest REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io)
set(TF2_LIBRARY /usr/lib/libtf2.so)
# set(TF2_LIBRARY /usr/lib/libtf2.so)
# --- Include other message packages if needed ---
# if (NOT TARGET sensor_msgs)
@@ -160,7 +45,6 @@ include_directories(
${Boost_INCLUDE_DIRS}
${GTEST_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
/usr/include
)
link_directories(${PCL_LIBRARY_DIRS})
@@ -187,7 +71,8 @@ target_link_libraries(costmap_2d_new
map_msgs
laser_geometry
voxel_grid
${TF2_LIBRARY}
# ${TF2_LIBRARY}
tf3
)
target_include_directories(costmap_2d_new PRIVATE ${Boost_INCLUDE_DIRS})
@@ -268,6 +153,15 @@ target_link_libraries(unpreferred_layer
yaml-cpp
)
add_library(costmap_2d_robot SHARED
src/costmap_2d_robot.cpp
)
target_link_libraries(costmap_2d_robot
costmap_2d_new
${Boost_LIBRARIES}
yaml-cpp
)
# --- Test executables ---
add_executable(test_array_parser test/array_parser_test.cpp)
add_executable(test_costmap test/coordinates_test.cpp)