1726_24102025

CMakeLists.txt

@@ -2,40 +2,50 @@ cmake_minimum_required(VERSION 3.10)
 project(costmap_2d)
 
 set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-# Dependencies
+# ---- Dependencies ----
 find_package(Eigen3 REQUIRED)
+find_package(Boost REQUIRED COMPONENTS system thread)
 
-# Include directories
 include_directories(
     include
-    ${EIGEN3_INCLUDE_DIR}
+    ${EIGEN3_INCLUDE_DIRS}
+    ${Boost_INCLUDE_DIRS}
+    /usr/include
 )
 
-# Library source files
-set(COSTMAP_SOURCES
+add_definitions(${EIGEN3_DEFINITIONS})
+
+# ---- Core costmap_2d library ----
+add_library(costmap_2d
+    src/array_parser.cpp
     src/costmap_2d.cpp
-    # src/layer.cpp
+    src/observation_buffer.cpp
+    src/layer.cpp
     src/layered_costmap.cpp
+    # src/costmap_math.cpp
+    src/footprint.cpp
     # src/costmap_layer.cpp
-    # src/static_layer.cpp
-    # src/obstacle_layer.cpp
-    # src/inflation_layer.cpp
-    # src/observation_buffer.cpp
-    # src/footprint.cpp
 )
 
-# Create library
-add_library(${PROJECT_NAME} SHARED ${COSTMAP_SOURCES})
-target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
-
-# Install
-install(TARGETS ${PROJECT_NAME}
-    LIBRARY DESTINATION lib
-    ARCHIVE DESTINATION lib
+target_link_libraries(costmap_2d
+    ${Boost_LIBRARIES}
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION include/${PROJECT_NAME}
-)
+# # ---- Layer plugins ----
+add_library(layers
+    plugins/inflation_layer.cpp
+#     plugins/obstacle_layer.cpp
+#     plugins/static_layer.cpp
+#     plugins/voxel_layer.cpp
+)
+
+target_link_libraries(layers
+    costmap_2d
+    ${Boost_LIBRARIES}
+)
+
+# ---- Example Executable ----
+# add_executable(test_costmap main.cpp)
+# target_link_libraries(test_costmap costmap_2d layers)