test costmap + cam depth

CMakeLists.txt

@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(depth_local_costmap_noetic_test LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+find_package(catkin REQUIRED COMPONENTS
+  data_convert
+  geometry_msgs
+  nav_msgs
+  robot_depth_image_proc
+  robot_costmap_2d
+  robot_cpp
+  robot_geometry_msgs
+  robot_sensor_msgs
+  robot_time
+  roscpp
+  sensor_msgs
+  tf2_ros
+)
+
+find_library(TF3_LIBRARY
+  NAMES tf3
+  PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
+)
+
+if(NOT TF3_LIBRARY)
+  message(FATAL_ERROR "tf3 library not found")
+endif()
+
+catkin_package()
+
+add_executable(depth_local_costmap_noetic_test_node
+  src/depth_local_costmap_noetic_test_node.cpp
+)
+
+target_include_directories(depth_local_costmap_noetic_test_node
+  PRIVATE
+    ${catkin_INCLUDE_DIRS}
+)
+
+target_link_libraries(depth_local_costmap_noetic_test_node
+  PRIVATE
+    ${catkin_LIBRARIES}
+    ${TF3_LIBRARY}
+)
+
+add_dependencies(depth_local_costmap_noetic_test_node
+  ${catkin_EXPORTED_TARGETS}
+)
+
+install(TARGETS depth_local_costmap_noetic_test_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY config launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)