add file costmap_2d_robot

CMakeLists.txt

@@ -12,12 +12,12 @@ set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/costmap_2d")
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # --- Dependencies ---
-# find_package(tf2 REQUIRED)
+# find_package(tf3 REQUIRED)
 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(tf3_LIBRARY /usr/lib/libtf3.so)
 
 # --- Include other message packages if needed ---
 # if (NOT TARGET sensor_msgs)
@@ -39,6 +39,8 @@ find_package(PCL REQUIRED COMPONENTS common io)
 #     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../voxel_grid ${CMAKE_BINARY_DIR}/voxel_grid_build)
 # endif()
 
+add_definitions(-DCOSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+
 include_directories(
     include  
     ${EIGEN3_INCLUDE_DIRS}
@@ -51,7 +53,8 @@ link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS})
 
 # --- Core library ---
-add_library(costmap_2d_new 
+add_library(costmap_2d
+    src/costmap_2d_robot.cpp
     src/array_parser.cpp
     src/costmap_2d.cpp
     src/observation_buffer.cpp
@@ -62,7 +65,7 @@ add_library(costmap_2d_new
     src/costmap_layer.cpp
 )
 
-target_link_libraries(costmap_2d_new
+target_link_libraries(costmap_2d
     ${Boost_LIBRARIES}
     std_msgs
     sensor_msgs
@@ -71,17 +74,22 @@ target_link_libraries(costmap_2d_new
     map_msgs
     laser_geometry
     voxel_grid
-    # ${TF2_LIBRARY}
+    # ${tf3_LIBRARY}
     tf3
 )
-target_include_directories(costmap_2d_new PRIVATE ${Boost_INCLUDE_DIRS})
+target_include_directories(costmap_2d 
+        PUBLIC ${Boost_INCLUDE_DIRS}
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+        )
+
 
 # --- Plugin libraries ---
 add_library(static_layer SHARED
     plugins/static_layer.cpp
 )
 target_link_libraries(static_layer
-    costmap_2d_new
+    costmap_2d
     ${Boost_LIBRARIES}
     yaml-cpp
 )
@@ -90,7 +98,7 @@ add_library(obstacle_layer SHARED
     plugins/obstacle_layer.cpp
 )
 target_link_libraries(obstacle_layer
-    costmap_2d_new
+    costmap_2d
     ${Boost_LIBRARIES}
     yaml-cpp
 )
@@ -99,7 +107,7 @@ add_library(inflation_layer SHARED
     plugins/inflation_layer.cpp
 )
 target_link_libraries(inflation_layer
-    costmap_2d_new
+    costmap_2d
     ${Boost_LIBRARIES}
     yaml-cpp
 )
@@ -108,7 +116,7 @@ add_library(voxel_layer SHARED
     plugins/voxel_layer.cpp
 )
 target_link_libraries(voxel_layer
-    costmap_2d_new
+    costmap_2d
     ${Boost_LIBRARIES}
     yaml-cpp
 )
@@ -117,7 +125,7 @@ add_library(critical_layer SHARED
     plugins/critical_layer.cpp
 )
 target_link_libraries(critical_layer
-    costmap_2d_new
+    costmap_2d
     static_layer
     ${Boost_LIBRARIES}
     yaml-cpp
@@ -127,7 +135,7 @@ add_library(directional_layer SHARED
     plugins/directional_layer.cpp
 )
 target_link_libraries(directional_layer
-    costmap_2d_new
+    costmap_2d
     static_layer
     ${Boost_LIBRARIES}
     yaml-cpp
@@ -137,7 +145,7 @@ add_library(preferred_layer SHARED
     plugins/preferred_layer.cpp
 )
 target_link_libraries(preferred_layer
-    costmap_2d_new
+    costmap_2d
     static_layer
     ${Boost_LIBRARIES}
     yaml-cpp
@@ -147,20 +155,20 @@ add_library(unpreferred_layer SHARED
     plugins/unpreferred_layer.cpp
 )
 target_link_libraries(unpreferred_layer
-    costmap_2d_new
+    costmap_2d
     static_layer
     ${Boost_LIBRARIES}
     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
-)
+# add_library(costmap_2d_robot SHARED
+#     src/costmap_2d_robot.cpp
+# )
+# target_link_libraries(costmap_2d_robot
+#     costmap_2d
+#     ${Boost_LIBRARIES}
+#     yaml-cpp
+# )
 
 # --- Test executables ---
 add_executable(test_array_parser test/array_parser_test.cpp)
@@ -168,22 +176,22 @@ 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_new
+    costmap_2d
     GTest::GTest
     GTest::Main
     pthread
 )
 
 target_link_libraries(test_costmap PRIVATE
-    costmap_2d_new
+    costmap_2d
     GTest::GTest
     GTest::Main
     pthread
 )
 
 target_link_libraries(test_plugin PRIVATE
-    ${TF2_LIBRARY}
-    costmap_2d_new
+    ${tf3_LIBRARY}
+    costmap_2d
     static_layer
     obstacle_layer
     inflation_layer