197 lines
4.5 KiB
CMake
197 lines
4.5 KiB
CMake
cmake_minimum_required(VERSION 3.10)
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project(costmap_2d)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
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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 "${CMAKE_BINARY_DIR}/costmap_2d")
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set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/costmap_2d")
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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# --- Dependencies ---
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# find_package(tf2 REQUIRED)
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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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# set(TF2_LIBRARY /usr/lib/libtf2.so)
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# --- Include other message packages if needed ---
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# if (NOT TARGET sensor_msgs)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
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# endif()
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# if (NOT TARGET geometry_msgs)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
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# endif()
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# if (NOT TARGET nav_msgs)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build)
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# endif()
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# if (NOT TARGET map_msgs)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build)
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# endif()
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# if (NOT TARGET laser_geometry)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../laser_geometry ${CMAKE_BINARY_DIR}/laser_geometry_build)
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# endif()
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# if (NOT TARGET voxel_grid)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../voxel_grid ${CMAKE_BINARY_DIR}/voxel_grid_build)
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# endif()
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include_directories(
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include
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${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})
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add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS})
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# --- Core library ---
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add_library(costmap_2d_new
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src/array_parser.cpp
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src/costmap_2d.cpp
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src/observation_buffer.cpp
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src/layer.cpp
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src/layered_costmap.cpp
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src/costmap_math.cpp
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src/footprint.cpp
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src/costmap_layer.cpp
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)
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target_link_libraries(costmap_2d_new
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${Boost_LIBRARIES}
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std_msgs
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sensor_msgs
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geometry_msgs
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nav_msgs
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map_msgs
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laser_geometry
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voxel_grid
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# ${TF2_LIBRARY}
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tf3
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)
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target_include_directories(costmap_2d_new PRIVATE ${Boost_INCLUDE_DIRS})
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# --- Plugin libraries ---
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add_library(static_layer SHARED
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plugins/static_layer.cpp
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)
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target_link_libraries(static_layer
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costmap_2d_new
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${Boost_LIBRARIES}
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yaml-cpp
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)
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add_library(obstacle_layer SHARED
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plugins/obstacle_layer.cpp
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)
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target_link_libraries(obstacle_layer
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costmap_2d_new
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${Boost_LIBRARIES}
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yaml-cpp
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)
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add_library(inflation_layer SHARED
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plugins/inflation_layer.cpp
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)
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target_link_libraries(inflation_layer
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costmap_2d_new
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${Boost_LIBRARIES}
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yaml-cpp
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)
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add_library(voxel_layer SHARED
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plugins/voxel_layer.cpp
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)
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target_link_libraries(voxel_layer
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costmap_2d_new
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${Boost_LIBRARIES}
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yaml-cpp
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)
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add_library(critical_layer SHARED
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plugins/critical_layer.cpp
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)
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target_link_libraries(critical_layer
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costmap_2d_new
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static_layer
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${Boost_LIBRARIES}
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yaml-cpp
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)
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add_library(directional_layer SHARED
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plugins/directional_layer.cpp
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)
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target_link_libraries(directional_layer
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costmap_2d_new
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static_layer
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${Boost_LIBRARIES}
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yaml-cpp
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)
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add_library(preferred_layer SHARED
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plugins/preferred_layer.cpp
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)
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target_link_libraries(preferred_layer
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costmap_2d_new
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static_layer
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${Boost_LIBRARIES}
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yaml-cpp
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)
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add_library(unpreferred_layer SHARED
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plugins/unpreferred_layer.cpp
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)
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target_link_libraries(unpreferred_layer
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costmap_2d_new
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static_layer
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${Boost_LIBRARIES}
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yaml-cpp
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)
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add_library(costmap_2d_robot SHARED
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src/costmap_2d_robot.cpp
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)
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target_link_libraries(costmap_2d_robot
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costmap_2d_new
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${Boost_LIBRARIES}
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yaml-cpp
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)
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# --- Test executables ---
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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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target_link_libraries(test_array_parser PRIVATE
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costmap_2d_new
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GTest::GTest
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GTest::Main
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pthread
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)
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target_link_libraries(test_costmap PRIVATE
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costmap_2d_new
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GTest::GTest
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GTest::Main
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pthread
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)
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target_link_libraries(test_plugin PRIVATE
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${TF2_LIBRARY}
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costmap_2d_new
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static_layer
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obstacle_layer
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inflation_layer
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${Boost_LIBRARIES}
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Boost::filesystem
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Boost::system
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dl
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pthread
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yaml-cpp
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)
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