update for ROS
This commit is contained in:
parent
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400
CMakeLists.txt
400
CMakeLists.txt
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@ -1,42 +1,60 @@
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# --- CMake version và project name ---
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cmake_minimum_required(VERSION 3.10)
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cmake_minimum_required(VERSION 3.0.2)
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project(robot_costmap_2d VERSION 1.0.0 LANGUAGES CXX)
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# ========================================================
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# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
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# ========================================================
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# Detect if building with Catkin
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_costmap_2d with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_costmap_2d with Standalone CMake")
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endif()
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project(robot_costmap_2d)
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# C++ Standard - must be set before find_package
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# --- C++ standard và position independent code ---
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set(CMAKE_CXX_STANDARD 17) # Sử dụng C++17
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set(CMAKE_POSITION_INDEPENDENT_CODE ON) # Thư viện có thể build thành shared lib
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# Find dependencies
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find_package(Eigen3 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system thread filesystem)
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find_package(GTest REQUIRED)
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find_package(PCL REQUIRED COMPONENTS common io)
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find_package(yaml-cpp REQUIRED)
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# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
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# Dùng để runtime linker tìm thư viện đã build trước khi install
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set(CMAKE_SKIP_BUILD_RPATH FALSE)
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set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
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set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
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if (NOT BUILDING_WITH_CATKIN)
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# Enable Position Independent Code
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Cấu hình RPATH để tránh cycle trong runtime search path
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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# --- Dependencies ---
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# Tìm các thư viện cần thiết
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# find_package(tf3 REQUIRED) # Nếu dùng tf3
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find_package(Eigen3 REQUIRED) # Thư viện Eigen cho toán học
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find_package(Boost REQUIRED COMPONENTS system thread filesystem) # Boost: system, thread, filesystem
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find_package(GTest REQUIRED) # Google Test cho unit test
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find_package(PCL REQUIRED COMPONENTS common io) # Point Cloud Library
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set(PACKAGES_DIR
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robot_std_msgs
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robot_sensor_msgs
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geometry_msgs
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robot_nav_msgs
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robot_map_msgs
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robot_laser_geometry
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robot_visualization_msgs
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robot_voxel_grid
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tf3
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robot_tf3_geometry_msgs
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robot_tf3_sensor_msgs
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data_convert
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robot_xmlrpcpp
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robot_cpp
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robot_time
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)
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if(BUILDING_WITH_CATKIN)
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else()
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# ========================================================
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# Catkin specific configuration
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# ========================================================
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find_package(catkin REQUIRED COMPONENTS
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robot_std_msgs
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robot_sensor_msgs
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@ -54,45 +72,35 @@ if(BUILDING_WITH_CATKIN)
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robot_cpp
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robot_time
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)
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endif()
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# ========================================================
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# Catkin specific configuration
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES robot_costmap_2d plugins
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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
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DEPENDS Eigen3 PCL
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DEPENDS PCL Boost
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)
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endif()
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# --- Define macro để dùng trong code ---
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add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
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# --- Include directories ---
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# Thêm các folder chứa header files
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${GTEST_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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link_directories(${PCL_LIBRARY_DIRS}) # Thêm thư viện PCL vào linker path
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if(BUILDING_WITH_CATKIN)
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include_directories(${catkin_INCLUDE_DIRS})
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link_directories(${PCL_LIBRARY_DIRS})
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endif()
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# --- Eigen và PCL definitions ---
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# Define macro để dùng trong code
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add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
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# Eigen và PCL definitions
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add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS})
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# --- Core library: robot_costmap_2d ---
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# Tạo thư viện chính
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add_library(robot_costmap_2d
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# ========================================================
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# Core library: robot_costmap_2d
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# ========================================================
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add_library(robot_costmap_2d SHARED
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src/costmap_2d_robot.cpp
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src/array_parser.cpp
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src/costmap_2d.cpp
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@ -104,84 +112,59 @@ add_library(robot_costmap_2d
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src/costmap_layer.cpp
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)
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# --- Link các thư viện phụ thuộc ---
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if(BUILDING_WITH_CATKIN)
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target_link_libraries(robot_costmap_2d
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${catkin_LIBRARIES}
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${Boost_LIBRARIES} # Boost
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yaml-cpp
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dl
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${PCL_LIBRARIES}
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)
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else()
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# Standalone mode: link dependencies with PUBLIC visibility to propagate include paths
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target_link_libraries(robot_costmap_2d
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PUBLIC
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robot_std_msgs
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robot_sensor_msgs
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geometry_msgs
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robot_nav_msgs
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robot_map_msgs
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robot_laser_geometry
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robot_visualization_msgs
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robot_voxel_grid
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tf3
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robot_tf3_geometry_msgs
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robot_tf3_sensor_msgs
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data_convert
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robot_xmlrpcpp # XMLRPC
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robot_cpp
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PRIVATE
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${Boost_LIBRARIES} # Boost
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yaml-cpp
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dl
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${PCL_LIBRARIES}
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)
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endif()
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# --- Include directories cho target ---
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target_include_directories(robot_costmap_2d
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PUBLIC
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${Boost_INCLUDE_DIRS} # Boost headers
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> # Khi build từ source
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}> # Khi install
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)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(robot_costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_include_directories(robot_costmap_2d
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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target_link_libraries(robot_costmap_2d
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PUBLIC ${catkin_LIBRARIES}
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PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
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PRIVATE yaml-cpp
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PRIVATE dl
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PRIVATE ${PCL_LIBRARIES}
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)
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else()
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target_include_directories(robot_costmap_2d
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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target_link_libraries(robot_costmap_2d
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PUBLIC
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${PACKAGES_DIR}
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PRIVATE
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Boost::boost Boost::system Boost::thread Boost::filesystem
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yaml-cpp
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dl
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${PCL_LIBRARIES}
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)
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set_target_properties(robot_costmap_2d PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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BUILD_RPATH "${CMAKE_BINARY_DIR}"
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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)
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endif()
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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install(TARGETS robot_costmap_2d
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EXPORT robot_costmap_2d-targets
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ARCHIVE DESTINATION lib # Thư viện tĩnh .a
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LIBRARY DESTINATION lib # Thư viện động .so
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RUNTIME DESTINATION bin # File thực thi (nếu có)
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INCLUDES DESTINATION include # Cài đặt include
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)
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# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
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# --- Tạo file lib/cmake/robot_costmap_2d/robot_costmap_2dTargets.cmake ---
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# --- File này chứa cấu hình giúp project khác có thể dùng ---
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# --- Find_package(robot_costmap_2d REQUIRED) ---
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# --- Target_link_libraries(my_app PRIVATE robot_costmap_2d::robot_costmap_2d) ---
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install(EXPORT robot_costmap_2d-targets
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FILE robot_costmap_2d-targets.cmake
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NAMESPACE robot_costmap_2d::
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DESTINATION lib/cmake/robot_costmap_2d
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)
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# --- Cài đặt headers ---
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if(NOT BUILDING_WITH_CATKIN)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include/${PROJECT_NAME}
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)
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endif()
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# --- Plugin libraries ---
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# Tạo các plugin shared library
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add_library(plugins
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SHARED
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# ========================================================
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# Plugin library: plugins
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# ========================================================
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add_library(plugins SHARED
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plugins/static_layer.cpp
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plugins/obstacle_layer.cpp
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plugins/inflation_layer.cpp
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@ -193,90 +176,135 @@ add_library(plugins
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)
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if(BUILDING_WITH_CATKIN)
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target_link_libraries(plugins
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PRIVATE
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robot_costmap_2d
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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yaml-cpp
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)
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else()
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# In standalone mode, robot_costmap_2d already has PUBLIC links to all dependencies
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# so we just need to link it with PUBLIC visibility to get the include paths
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target_link_libraries(plugins
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add_dependencies(plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_include_directories(plugins
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PUBLIC
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robot_costmap_2d
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PRIVATE
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${Boost_LIBRARIES}
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yaml-cpp
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robot_time
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robot_cpp
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(plugins
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PUBLIC robot_costmap_2d
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PRIVATE ${catkin_LIBRARIES}
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PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
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PRIVATE yaml-cpp
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)
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else()
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target_include_directories(plugins
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(plugins
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PUBLIC robot_costmap_2d
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PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
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PRIVATE yaml-cpp
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PRIVATE robot_time
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PRIVATE robot_cpp
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)
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endif()
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set_target_properties(plugins PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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BUILD_RPATH "${CMAKE_BINARY_DIR}"
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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endif()
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install(TARGETS plugins
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EXPORT plugins-targets
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ARCHIVE DESTINATION lib # Thư viện tĩnh .a
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LIBRARY DESTINATION lib # Thư viện động .so
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RUNTIME DESTINATION bin # File thực thi (nếu có)
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INCLUDES DESTINATION include # Cài đặt include
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# ========================================================
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# Install
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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install(TARGETS robot_costmap_2d plugins
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(EXPORT plugins-targets
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FILE plugins-targets.cmake
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NAMESPACE robot_costmap_2d::
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DESTINATION lib/cmake/plugins
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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else()
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# --- Option để bật/tắt test ---
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install(TARGETS robot_costmap_2d plugins
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EXPORT ${PROJECT_NAME}-targets
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ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
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||||
RUNTIME DESTINATION bin
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)
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# Export targets
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install(EXPORT ${PROJECT_NAME}-targets
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FILE ${PROJECT_NAME}-targets.cmake
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NAMESPACE ${PROJECT_NAME}::
|
||||
DESTINATION lib/cmake/${PROJECT_NAME}
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||||
)
|
||||
|
||||
## Mark cpp header files for installation
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION include
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||||
FILES_MATCHING PATTERN "*.h"
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||||
PATTERN ".svn" EXCLUDE
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||||
)
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||||
|
||||
# Print configuration info
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||||
message(STATUS "=================================")
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||||
message(STATUS "Project: ${PROJECT_NAME}")
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||||
message(STATUS "Version: ${PROJECT_VERSION}")
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||||
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
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||||
message(STATUS "Libraries: robot_costmap_2d, plugins")
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||||
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")
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||||
message(STATUS "=================================")
|
||||
endif()
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||||
|
||||
# ========================================================
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||||
# Test executables
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||||
# ========================================================
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||||
option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" ON)
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if(BUILD_COSTMAP_TESTS)
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# --- Test executables ---
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||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/array_parser_test.cpp)
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add_executable(test_array_parser test/array_parser_test.cpp)
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add_executable(test_costmap test/coordinates_test.cpp)
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add_executable(test_plugin test/static_layer_test.cpp)
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# --- Link thư viện cho test ---
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target_link_libraries(test_array_parser PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
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target_link_libraries(test_costmap PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
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||||
target_link_libraries(test_plugin PRIVATE
|
||||
|
||||
${Boost_LIBRARIES}
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||||
Boost::filesystem
|
||||
Boost::system
|
||||
dl
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||||
pthread
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||||
yaml-cpp
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||||
tf3
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||||
robot_time
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||||
target_link_libraries(test_array_parser PRIVATE
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||||
robot_costmap_2d
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||||
GTest::GTest GTest::Main
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||||
)
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||||
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||||
# --- Set RPATH để tìm thư viện của project này thay vì system ROS libraries ---
|
||||
set_target_properties(test_array_parser PROPERTIES
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||||
BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
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||||
INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
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||||
LINK_FLAGS "-Wl,--disable-new-dtags"
|
||||
)
|
||||
set_target_properties(test_costmap PROPERTIES
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||||
BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
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||||
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"
|
||||
GTest::GTest
|
||||
GTest::Main
|
||||
Threads::Threads
|
||||
)
|
||||
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()
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user