first commit

CMakeLists.txt

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+# --- CMake version và project name ---
+cmake_minimum_required(VERSION 3.10)
+project(custom_planner)
+
+# --- C++ standard và position independent code ---
+set(CMAKE_CXX_STANDARD 17)            # Sử dụng C++17
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)  # Thư viện có thể build thành shared lib
+
+# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
+# Dùng để runtime linker tìm thư viện đã build trước khi install
+set(CMAKE_SKIP_BUILD_RPATH FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/custom_planner")
+set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/custom_planner")
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+# --- Dependencies ---
+# Tìm các thư viện cần thiết
+# find_package(tf3 REQUIRED)            # Nếu dùng tf3
+find_package(Eigen3 REQUIRED)          # Thư viện Eigen cho toán học
+find_package(Boost REQUIRED COMPONENTS system thread filesystem)  # Boost: system, thread, filesystem
+
+# --- Include directories ---
+# Thêm các folder chứa header files
+include_directories(
+    include  
+    ${EIGEN3_INCLUDE_DIRS}
+    ${Boost_INCLUDE_DIRS}
+)
+
+# --- Eigen và PCL definitions ---
+add_definitions(${EIGEN3_DEFINITIONS})
+
+# --- Core library: custom_planner ---
+# Tạo thư viện chính
+add_library(custom_planner
+  src/custom_planner.cpp
+  src/pathway.cc
+  src/pose.cc
+  src/Curve_common.cpp
+  src/merge_path_calc.cpp
+)
+
+# --- Link các thư viện phụ thuộc ---
+target_link_libraries(custom_planner
+    ${Boost_LIBRARIES}        # Boost
+    visualization_msgs
+    nav_msgs
+    tf3
+    tf3_geometry_msgs
+    robot_time
+    data_convert
+    costmap_2d
+    nav_core
+    robot_protocol_msgs
+)
+
+# --- Include directories cho target ---
+target_include_directories(custom_planner 
+        PUBLIC 
+            ${Boost_INCLUDE_DIRS}  # Boost headers
+            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>   # Khi build từ source
+            $<INSTALL_INTERFACE:include/${PROJECT_NAME}>             # Khi install
+        )
+
+# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+install(TARGETS custom_planner
+  EXPORT custom_planner-targets
+  ARCHIVE DESTINATION lib      # Thư viện tĩnh .a
+  LIBRARY DESTINATION lib      # Thư viện động .so
+  RUNTIME DESTINATION bin      # File thực thi (nếu có)
+  INCLUDES DESTINATION include # Cài đặt include
+)
+
+# --- Xuất export set costmap_2dTargets thành file CMake module ---
+# --- Tạo file lib/cmake/custom_planner/costmap_2dTargets.cmake ---
+# --- File này chứa cấu hình giúp project khác có thể dùng ---
+# --- Find_package(custom_planner REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE custom_planner::custom_planner) ---
+install(EXPORT custom_planner-targets 
+  FILE custom_planner-targets.cmake
+  NAMESPACE custom_planner::
+  DESTINATION lib/cmake/custom_planner
+)
+
+# --- Cài đặt headers ---
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+# # --- Plugin libraries ---
+# # Tạo các plugin shared library
+# add_library(plugins 
+#     SHARED 
+#     plugins/static_layer.cpp
+#     plugins/obstacle_layer.cpp
+#     plugins/inflation_layer.cpp
+#     plugins/voxel_layer.cpp
+#     plugins/critical_layer.cpp
+#     plugins/directional_layer.cpp
+#     plugins/preferred_layer.cpp
+#     plugins/unpreferred_layer.cpp
+#     )
+
+# target_link_libraries(plugins 
+#         custom_planner 
+#         ${Boost_LIBRARIES} 
+#         yaml-cpp
+#         robot_time
+#         )