first commit

CMakeLists.txt

@@ -4,6 +4,14 @@ project(costmap_2d)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+if (NOT TARGET sensor_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
+endif()
+
+if (NOT TARGET geometry_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
+endif()
+
 # ---- Dependencies ----
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
@@ -24,13 +32,15 @@ add_library(costmap_2d
     src/observation_buffer.cpp
     src/layer.cpp
     src/layered_costmap.cpp
-    # src/costmap_math.cpp
+    src/costmap_math.cpp
     src/footprint.cpp
-    # src/costmap_layer.cpp
+    src/costmap_layer.cpp
 )
 
 target_link_libraries(costmap_2d
     ${Boost_LIBRARIES}
+    sensor_msgs
+    geometry_msgs
 )
 
 # # ---- Layer plugins ----