74 lines
1.7 KiB
CMake
74 lines
1.7 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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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 ${CMAKE_BINARY_DIR}/map_msgs_build)
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endif()
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# ---- Dependencies ----
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find_package(Eigen3 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system thread)
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include_directories(
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include
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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/usr/include
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)
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add_definitions(${EIGEN3_DEFINITIONS})
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# ---- Core costmap_2d library ----
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add_library(costmap_2d
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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
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${Boost_LIBRARIES}
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sensor_msgs
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geometry_msgs
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nav_msgs
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map_msgs
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tf2
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)
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# # ---- Layer plugins ----
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add_library(layers
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plugins/inflation_layer.cpp
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plugins/obstacle_layer.cpp
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plugins/static_layer.cpp
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# plugins/voxel_layer.cpp
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)
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target_link_libraries(layers
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costmap_2d
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${Boost_LIBRARIES}
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)
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# ---- Example Executable ----
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# add_executable(test_costmap main.cpp)
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# target_link_libraries(test_costmap costmap_2d layers)
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