update for ROS
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parent
0b01c22019
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243
CMakeLists.txt
243
CMakeLists.txt
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# --- CMake version và project name ---
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cmake_minimum_required(VERSION 3.10)
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project(custom_planner)
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cmake_minimum_required(VERSION 3.0.2)
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project(custom_planner VERSION 1.0.0 LANGUAGES CXX)
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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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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 custom_planner with Catkin")
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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 "${CMAKE_BINARY_DIR}/custom_planner")
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set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/custom_planner")
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building custom_planner with Standalone CMake")
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endif()
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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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# 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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# --- 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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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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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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# --- Eigen và PCL definitions ---
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add_definitions(${EIGEN3_DEFINITIONS})
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if (NOT BUILDING_WITH_CATKIN)
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# --- Core library: custom_planner ---
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# Tạo thư viện chính
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add_library(custom_planner
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src/custom_planner.cpp
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src/pathway.cc
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src/pose.cc
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src/Curve_common.cpp
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src/merge_path_calc.cpp
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)
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# Enable Position Independent Code
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# --- Link các thư viện phụ thuộc ---
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target_link_libraries(custom_planner
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${Boost_LIBRARIES} # Boost
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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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set(PACKAGES_DIR
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robot_visualization_msgs
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robot_nav_msgs
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robot_std_msgs
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robot_geometry_msgs
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tf3
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robot_tf3_geometry_msgs
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robot_time
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@ -53,58 +41,139 @@ target_link_libraries(custom_planner
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robot_costmap_2d
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robot_nav_core
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robot_protocol_msgs
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robot_cpp
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)
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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_visualization_msgs
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robot_nav_msgs
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robot_std_msgs
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robot_geometry_msgs
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tf3
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robot_tf3_geometry_msgs
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robot_time
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data_convert
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robot_costmap_2d
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robot_nav_core
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robot_protocol_msgs
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robot_cpp
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_std_msgs robot_geometry_msgs tf3 robot_tf3_geometry_msgs robot_time data_convert robot_costmap_2d robot_nav_core robot_protocol_msgs robot_cpp
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DEPENDS Eigen3 Boost
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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endif()
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# ========================================================
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# Libraries
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# ========================================================
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add_library(${PROJECT_NAME} SHARED
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src/custom_planner.cpp
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src/pathway.cc
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src/pose.cc
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src/Curve_common.cpp
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src/merge_path_calc.cpp
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)
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# --- Include directories cho target ---
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target_include_directories(custom_planner
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PUBLIC
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${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(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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install(TARGETS custom_planner
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EXPORT custom_planner-targets
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ARCHIVE DESTINATION lib # Thư viện tĩnh .a
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LIBRARY DESTINATION lib # Thư viện động .so
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RUNTIME DESTINATION bin # File thực thi (nếu có)
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INCLUDES DESTINATION include # Cài đặt include
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)
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
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# --- Tạo file lib/cmake/custom_planner/robot_costmap_2dTargets.cmake ---
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# --- File này chứa cấu hình giúp project khác có thể dùng ---
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# --- Find_package(custom_planner REQUIRED) ---
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# --- Target_link_libraries(my_app PRIVATE custom_planner::custom_planner) ---
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install(EXPORT custom_planner-targets
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FILE custom_planner-targets.cmake
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NAMESPACE custom_planner::
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DESTINATION lib/cmake/custom_planner
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)
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target_link_libraries(${PROJECT_NAME}
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PUBLIC ${catkin_LIBRARIES}
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PRIVATE Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
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)
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# --- Cài đặt headers ---
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include/${PROJECT_NAME}
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)
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else()
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# # --- Plugin libraries ---
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# # Tạo các plugin shared library
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# add_library(plugins
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# SHARED
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# plugins/static_layer.cpp
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# plugins/obstacle_layer.cpp
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# plugins/inflation_layer.cpp
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# plugins/voxel_layer.cpp
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# plugins/critical_layer.cpp
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# plugins/directional_layer.cpp
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# plugins/preferred_layer.cpp
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# plugins/unpreferred_layer.cpp
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# )
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target_include_directories(${PROJECT_NAME}
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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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# custom_planner
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# ${Boost_LIBRARIES}
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# yaml-cpp
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# robot_time
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# )
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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${PACKAGES_DIR}
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PRIVATE
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Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
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)
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set_target_properties(${PROJECT_NAME} 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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# ========================================================
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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 ${PROJECT_NAME}
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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 ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${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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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-targets
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ARCHIVE DESTINATION lib
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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 ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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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 "Dependencies: robot_visualization_msgs, robot_nav_msgs, robot_std_msgs, robot_geometry_msgs, tf3, robot_tf3_geometry_msgs, robot_time, data_convert, robot_costmap_2d, robot_nav_core, robot_protocol_msgs, robot_cpp, Eigen3, Boost")
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message(STATUS "=================================")
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endif()
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58
package.xml
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58
package.xml
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@ -0,0 +1,58 @@
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<package>
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<name>custom_planner</name>
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<version>0.7.10</version>
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<description>
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custom_planner is the second generation of the transform library, which lets
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the user keep track of multiple coordinate frames over time. custom_planner
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maintains the relationship between coordinate frames in a tree
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structure buffered in time, and lets the user transform points,
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vectors, etc between any two coordinate frames at any desired
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point in time.
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</description>
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<author>Tully Foote</author>
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<author>Eitan Marder-Eppstein</author>
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<author>Wim Meeussen</author>
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<maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
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<license>BSD</license>
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<url type="website">http://www.ros.org/wiki/custom_planner</url>
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<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
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<build_depend>robot_costmap_2d</build_depend>
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<run_depend>robot_costmap_2d</run_depend>
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<build_depend>robot_nav_core</build_depend>
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<run_depend>robot_nav_core</run_depend>
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<build_depend>robot_geometry_msgs</build_depend>
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<run_depend>robot_geometry_msgs</run_depend>
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<build_depend>robot_nav_msgs</build_depend>
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<run_depend>robot_nav_msgs</run_depend>
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<build_depend>robot_std_msgs</build_depend>
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<run_depend>robot_std_msgs</run_depend>
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<build_depend>tf3</build_depend>
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<run_depend>tf3</run_depend>
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<build_depend>robot_tf3_geometry_msgs</build_depend>
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<run_depend>robot_tf3_geometry_msgs</run_depend>
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<build_depend>robot_cpp</build_depend>
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<run_depend>robot_cpp</run_depend>
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<build_depend>robot_protocol_msgs</build_depend>
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<run_depend>robot_protocol_msgs</run_depend>
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<build_depend>robot_time</build_depend>
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<run_depend>robot_time</run_depend>
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<build_depend>robot_visualization_msgs</build_depend>
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<run_depend>robot_visualization_msgs</run_depend>
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<build_depend>data_convert</build_depend>
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<run_depend>data_convert</run_depend>
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</package>
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