update for ROS

CMakeLists.txt

@@ -1,42 +1,60 @@
-# --- CMake version và project name ---
+cmake_minimum_required(VERSION 3.0.2)
-cmake_minimum_required(VERSION 3.10)
+project(robot_costmap_2d VERSION 1.0.0 LANGUAGES CXX)
 
-# ========================================================
-# 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 - must be set before find_package
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
-# --- C++ standard và position independent code ---
+# Find dependencies
-set(CMAKE_CXX_STANDARD 17)            # Sử dụng C++17
+find_package(Eigen3 REQUIRED)
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)  # Thư viện có thể build thành shared lib
+find_package(Boost REQUIRED COMPONENTS system thread filesystem)
+find_package(GTest REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common io)
+find_package(yaml-cpp REQUIRED)
 
-# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
+if (NOT BUILDING_WITH_CATKIN)
-# Dùng để runtime linker tìm thư viện đã build trước khi install
+
-set(CMAKE_SKIP_BUILD_RPATH FALSE)
+  # Enable Position Independent Code
-set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
+
-set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
+  # Cấu hình RPATH để tránh cycle trong runtime search path
+  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
   set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
 
-# --- Dependencies ---
+  set(PACKAGES_DIR  
-# Tìm các thư viện cần thiết
+    robot_std_msgs
-# find_package(tf3 REQUIRED)           # Nếu dùng tf3
+    robot_sensor_msgs
-find_package(Eigen3 REQUIRED)          # Thư viện Eigen cho toán học
+    geometry_msgs
-find_package(Boost REQUIRED COMPONENTS system thread filesystem)  # Boost: system, thread, filesystem
+    robot_nav_msgs
-find_package(GTest REQUIRED)           # Google Test cho unit test
+    robot_map_msgs
-find_package(PCL REQUIRED COMPONENTS common io)   # Point Cloud Library
+    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
+  )
 
-if(BUILDING_WITH_CATKIN)
+else()
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
   find_package(catkin REQUIRED COMPONENTS         
     robot_std_msgs
     robot_sensor_msgs
@@ -54,45 +72,35 @@ if(BUILDING_WITH_CATKIN)
     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
+    DEPENDS  PCL Boost 
   )
-endif()
 
-# --- Define macro để dùng trong code ---
-add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
-
-# --- Include directories ---
-# Thêm các folder chứa header files
   include_directories(
     include
+    ${catkin_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
     ${GTEST_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
   )
-link_directories(${PCL_LIBRARY_DIRS})  # Thêm thư viện PCL vào linker path
+  link_directories(${PCL_LIBRARY_DIRS})
-
-if(BUILDING_WITH_CATKIN)
-  include_directories(${catkin_INCLUDE_DIRS})
 endif()
 
-# --- Eigen và PCL definitions ---
+# Define macro để dùng trong code
+add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+
+# Eigen và PCL definitions
 add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS})
 
-# --- Core library: robot_costmap_2d ---
+# ========================================================
-# Tạo thư viện chính
+# Core library: robot_costmap_2d
-add_library(robot_costmap_2d
+# ========================================================
+add_library(robot_costmap_2d SHARED
   src/costmap_2d_robot.cpp
   src/array_parser.cpp
   src/costmap_2d.cpp
@@ -104,84 +112,59 @@ add_library(robot_costmap_2d
   src/costmap_layer.cpp
 )
 
-# --- 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
-        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                  # XMLRPC
-        robot_cpp 
-        PRIVATE
-        ${Boost_LIBRARIES}        # Boost
-        yaml-cpp
-        dl
-        ${PCL_LIBRARIES}
-  )
-endif()
-
-# --- Include directories cho target ---
-target_include_directories(robot_costmap_2d 
-        PUBLIC 
-            ${Boost_INCLUDE_DIRS}  # Boost headers
-            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>   # Khi build từ source
-            $<INSTALL_INTERFACE:include/${PROJECT_NAME}>             # Khi install
-        )
-
 if(BUILDING_WITH_CATKIN)
   add_dependencies(robot_costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  target_include_directories(robot_costmap_2d
+    PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+      ${EIGEN3_INCLUDE_DIRS}
+      ${Boost_INCLUDE_DIRS}
+      ${PCL_INCLUDE_DIRS}
+  )
+
+  target_link_libraries(robot_costmap_2d
+    PUBLIC ${catkin_LIBRARIES}
+    PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
+    PRIVATE yaml-cpp
+    PRIVATE dl
+    PRIVATE ${PCL_LIBRARIES}
+  )
+
+else()
+
+  target_include_directories(robot_costmap_2d
+    PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+      ${EIGEN3_INCLUDE_DIRS}
+      ${Boost_INCLUDE_DIRS}
+      ${PCL_INCLUDE_DIRS}
+  )
+
+  target_link_libraries(robot_costmap_2d
+    PUBLIC
+      ${PACKAGES_DIR}
+    PRIVATE
+      Boost::boost Boost::system Boost::thread Boost::filesystem
+      yaml-cpp
+      dl
+      ${PCL_LIBRARIES}
+  )
+
+  set_target_properties(robot_costmap_2d PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
+  )
+
 endif()
 
-# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# ========================================================
-install(TARGETS robot_costmap_2d
+# Plugin library: plugins
-  EXPORT robot_costmap_2d-targets
+# ========================================================
-  ARCHIVE DESTINATION lib      # Thư viện tĩnh .a
+add_library(plugins SHARED
-  LIBRARY DESTINATION lib      # Thư viện động .so
-  RUNTIME DESTINATION bin      # File thực thi (nếu có)
-  INCLUDES DESTINATION include # Cài đặt include
-)
-
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_costmap_2d/robot_costmap_2dTargets.cmake ---
-# --- File này chứa cấu hình giúp project khác có thể dùng ---
-# --- Find_package(robot_costmap_2d REQUIRED) ---
-# --- Target_link_libraries(my_app PRIVATE robot_costmap_2d::robot_costmap_2d) ---
-install(EXPORT robot_costmap_2d-targets 
-  FILE robot_costmap_2d-targets.cmake
-  NAMESPACE robot_costmap_2d::
-  DESTINATION lib/cmake/robot_costmap_2d
-)
-
-# --- 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
-add_library(plugins 
-    SHARED 
   plugins/static_layer.cpp
   plugins/obstacle_layer.cpp
   plugins/inflation_layer.cpp
@@ -193,90 +176,135 @@ add_library(plugins
 )
 
 if(BUILDING_WITH_CATKIN)
-  target_link_libraries(plugins 
+  add_dependencies(plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-    PRIVATE
+
-        robot_costmap_2d 
+  target_include_directories(plugins
-        ${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 
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    PRIVATE
+      $<INSTALL_INTERFACE:include>
-        ${Boost_LIBRARIES} 
+  )
-        yaml-cpp
+
-        robot_time
+  target_link_libraries(plugins
-        robot_cpp 
+    PUBLIC robot_costmap_2d
+    PRIVATE ${catkin_LIBRARIES}
+    PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
+    PRIVATE yaml-cpp
+  )
+
+else()
+
+  target_include_directories(plugins
+    PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
+
+  target_link_libraries(plugins
+    PUBLIC robot_costmap_2d
+    PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
+    PRIVATE yaml-cpp
+    PRIVATE robot_time
+    PRIVATE robot_cpp
   )
-endif()
 
   set_target_properties(plugins PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   )
 
-if(BUILDING_WITH_CATKIN)
-  add_dependencies(plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 endif()
 
-install(TARGETS plugins
+# ========================================================
-  EXPORT plugins-targets
+# Install
-  ARCHIVE DESTINATION lib      # Thư viện tĩnh .a
+# ========================================================
-  LIBRARY DESTINATION lib      # Thư viện động .so
+if(BUILDING_WITH_CATKIN)
-  RUNTIME DESTINATION bin      # File thực thi (nếu có)
+  ## Mark libraries for installation
-  INCLUDES DESTINATION include # Cài đặt include
+  ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+  install(TARGETS robot_costmap_2d plugins
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
   )
 
-install(EXPORT plugins-targets 
+  ## Mark cpp header files for installation
-  FILE plugins-targets.cmake
+  install(DIRECTORY include/${PROJECT_NAME}/
-  NAMESPACE robot_costmap_2d::
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  DESTINATION lib/cmake/plugins
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
   )
 
+else()
 
-# --- Option để bật/tắt test ---
+  install(TARGETS robot_costmap_2d plugins
+    EXPORT ${PROJECT_NAME}-targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  # Export targets
+  install(EXPORT ${PROJECT_NAME}-targets
+    FILE ${PROJECT_NAME}-targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION lib/cmake/${PROJECT_NAME}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+  # Print configuration info
+  message(STATUS "=================================")
+  message(STATUS "Project: ${PROJECT_NAME}")
+  message(STATUS "Version: ${PROJECT_VERSION}")
+  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
+  message(STATUS "Libraries: robot_costmap_2d, plugins")
+  message(STATUS "Dependencies: 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, Eigen3, PCL, Boost, yaml-cpp")
+  message(STATUS "=================================")
+endif()
+
+# ========================================================
+# Test executables
+# ========================================================
 option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" ON)
 
 if(BUILD_COSTMAP_TESTS)
-    # --- Test executables ---
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/array_parser_test.cpp)
     add_executable(test_array_parser test/array_parser_test.cpp)
-    add_executable(test_costmap test/coordinates_test.cpp)
+    target_link_libraries(test_array_parser PRIVATE
-    add_executable(test_plugin test/static_layer_test.cpp)
-
-    # --- Link thư viện cho test ---
-    target_link_libraries(test_array_parser PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
-    target_link_libraries(test_costmap PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
-    target_link_libraries(test_plugin PRIVATE 
-    
-        ${Boost_LIBRARIES}
-        Boost::filesystem
-        Boost::system
-        dl
-        pthread
-        yaml-cpp
-        tf3
-        robot_time
       robot_costmap_2d
-        GTest::GTest GTest::Main
+      GTest::GTest
-    )
+      GTest::Main
-    
+      Threads::Threads
-    # --- Set RPATH để tìm thư viện của project này thay vì system ROS libraries ---
-    set_target_properties(test_array_parser PROPERTIES
-        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
-        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
-        LINK_FLAGS "-Wl,--disable-new-dtags"
-    )
-    set_target_properties(test_costmap PROPERTIES
-        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
-        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
-        LINK_FLAGS "-Wl,--disable-new-dtags"
-    )
-    set_target_properties(test_plugin PROPERTIES
-        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
-        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
-        LINK_FLAGS "-Wl,--disable-new-dtags"
     )
   endif()
+
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/coordinates_test.cpp)
+    add_executable(test_costmap test/coordinates_test.cpp)
+    target_link_libraries(test_costmap PRIVATE
+      robot_costmap_2d
+      GTest::GTest
+      GTest::Main
+      Threads::Threads
+    )
+  endif()
+
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/static_layer_test.cpp)
+    add_executable(test_plugin test/static_layer_test.cpp)
+    target_link_libraries(test_plugin PRIVATE
+      robot_costmap_2d
+      Boost::boost Boost::filesystem Boost::system
+      yaml-cpp
+      dl
+      Threads::Threads
+      tf3
+      robot_time
+      GTest::GTest
+      GTest::Main
+    )
+  endif()
+endif()

src/costmap_2d_robot.cpp

@@ -128,7 +128,6 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name, robot::NodeH
 
     robot::PluginLoaderHelper loader;
     
-
     if (nh.hasParam("rolling_window"))
       nh.getParam("rolling_window", rolling_window);