ros

CMakeLists.txt

@@ -1,5 +1,19 @@
 # --- CMake version và project name ---
 cmake_minimum_required(VERSION 3.10)
+
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_costmap_2d with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_costmap_2d with Standalone CMake")
+endif()
+
 project(robot_costmap_2d)
 
 # --- C++ standard và position independent code ---
@@ -22,6 +36,39 @@ find_package(Boost REQUIRED COMPONENTS system thread filesystem)  # Boost: syste
 find_package(GTest REQUIRED)           # Google Test cho unit test
 find_package(PCL REQUIRED COMPONENTS common io)   # Point Cloud Library
 
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS
+    robot_std_msgs
+    robot_sensor_msgs
+    geometry_msgs
+    robot_nav_msgs
+    robot_map_msgs
+    robot_laser_geometry
+    robot_visualization_msgs
+    robot_voxel_grid
+    tf3
+    robot_tf3_geometry_msgs
+    robot_tf3_sensor_msgs
+    data_convert
+    robot_xmlrpcpp
+    robot_cpp
+    robot_time
+  )
+endif()
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_costmap_2d plugins
+    CATKIN_DEPENDS robot_std_msgs robot_sensor_msgs geometry_msgs robot_nav_msgs robot_map_msgs robot_laser_geometry robot_visualization_msgs robot_voxel_grid tf3 robot_tf3_geometry_msgs robot_tf3_sensor_msgs data_convert robot_xmlrpcpp robot_cpp robot_time
+    DEPENDS Eigen3 PCL
+  )
+endif()
+
 # --- Define macro để dùng trong code ---
 add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
 
@@ -36,6 +83,10 @@ include_directories(
 )
 link_directories(${PCL_LIBRARY_DIRS})  # Thêm thư viện PCL vào linker path
 
+if(BUILDING_WITH_CATKIN)
+  include_directories(${catkin_INCLUDE_DIRS})
+endif()
+
 # --- Eigen và PCL definitions ---
 add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS})
 
@@ -54,8 +105,18 @@ add_library(robot_costmap_2d
 )
 
 # --- Link các thư viện phụ thuộc ---
+if(BUILDING_WITH_CATKIN)
     target_link_libraries(robot_costmap_2d
+        ${catkin_LIBRARIES}
         ${Boost_LIBRARIES}        # Boost
+        yaml-cpp
+        dl
+        ${PCL_LIBRARIES}
+    )
+else()
+  # Standalone mode: link dependencies with PUBLIC visibility to propagate include paths
+  target_link_libraries(robot_costmap_2d
+    PUBLIC
         robot_std_msgs                   
         robot_sensor_msgs
         geometry_msgs
@@ -69,10 +130,14 @@ target_link_libraries(robot_costmap_2d
         robot_tf3_sensor_msgs
         data_convert
         robot_xmlrpcpp                  # XMLRPC
+        robot_cpp 
+        PRIVATE
+        ${Boost_LIBRARIES}        # Boost
         yaml-cpp
         dl
-    robot_cpp 
+        ${PCL_LIBRARIES}
   )
+endif()
 
 # --- Include directories cho target ---
 target_include_directories(robot_costmap_2d 
@@ -82,6 +147,10 @@ target_include_directories(robot_costmap_2d
             $<INSTALL_INTERFACE:include/${PROJECT_NAME}>             # Khi install
         )
 
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(robot_costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
+
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
 install(TARGETS robot_costmap_2d
   EXPORT robot_costmap_2d-targets
@@ -103,9 +172,11 @@ install(EXPORT robot_costmap_2d-targets
 )
 
 # --- Cài đặt headers ---
+if(NOT BUILDING_WITH_CATKIN)
   install(DIRECTORY include/${PROJECT_NAME}/
     DESTINATION include/${PROJECT_NAME}
   )
+endif()
 
 # --- Plugin libraries ---
 # Tạo các plugin shared library
@@ -121,19 +192,36 @@ add_library(plugins
         plugins/unpreferred_layer.cpp
         )
 
+if(BUILDING_WITH_CATKIN)
   target_link_libraries(plugins 
     PRIVATE
         robot_costmap_2d 
+        ${catkin_LIBRARIES}
+        ${Boost_LIBRARIES} 
+        yaml-cpp
+  )
+else()
+  # In standalone mode, robot_costmap_2d already has PUBLIC links to all dependencies
+  # so we just need to link it with PUBLIC visibility to get the include paths
+  target_link_libraries(plugins 
+    PUBLIC
+        robot_costmap_2d 
+    PRIVATE
         ${Boost_LIBRARIES} 
         yaml-cpp
         robot_time
         robot_cpp 
   )
+endif()
 
 set_target_properties(plugins PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
 )
 
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
+
 install(TARGETS plugins
   EXPORT plugins-targets
   ARCHIVE DESTINATION lib      # Thư viện tĩnh .a

package.xml

@@ -20,7 +20,51 @@
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
   <build_depend>libconsole-bridge-dev</build_depend>
-
   <run_depend>libconsole-bridge-dev</run_depend>
 
+  <build_depend>robot_std_msgs</build_depend>
+  <run_depend>robot_std_msgs</run_depend>
+
+  <build_depend>robot_sensor_msgs</build_depend>
+  <run_depend>robot_sensor_msgs</run_depend>
+
+  <build_depend>geometry_msgs</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+
+  <build_depend>robot_nav_msgs</build_depend>
+  <run_depend>robot_nav_msgs</run_depend>
+
+  <build_depend>robot_map_msgs</build_depend>
+  <run_depend>robot_map_msgs</run_depend>
+
+  <build_depend>robot_laser_geometry</build_depend>
+  <run_depend>robot_laser_geometry</run_depend>
+
+  <build_depend>robot_visualization_msgs</build_depend>
+  <run_depend>robot_visualization_msgs</run_depend>
+
+  <build_depend>robot_voxel_grid</build_depend>
+  <run_depend>robot_voxel_grid</run_depend>
+
+  <build_depend>tf3</build_depend>
+  <run_depend>tf3</run_depend>
+
+  <build_depend>robot_tf3_geometry_msgs</build_depend>
+  <run_depend>robot_tf3_geometry_msgs</run_depend>
+
+  <build_depend>robot_tf3_sensor_msgs</build_depend>
+  <run_depend>robot_tf3_sensor_msgs</run_depend>
+
+  <build_depend>data_convert</build_depend>
+  <run_depend>data_convert</run_depend>
+
+  <build_depend>robot_xmlrpcpp</build_depend>
+  <run_depend>robot_xmlrpcpp</run_depend>
+
+  <build_depend>robot_cpp</build_depend>
+  <run_depend>robot_cpp</run_depend>
+
+  <build_depend>robot_time</build_depend>
+  <run_depend>robot_time</run_depend>
+
 </package>