DuongTD/dock_planner
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update tf3

Browse Source
This commit is contained in:
HiepLM
2026-02-07 10:56:15 +07:00
parent 8f0cd33ec7
commit da82431cd9
2 changed files with 15 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
CMakeLists.txt
View File

@@ -44,6 +44,8 @@ if (NOT BUILDING_WITH_CATKIN)
robot_cpp robot_cpp
) )
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else() else()
# ======================================================== # ========================================================
@@ -56,7 +58,6 @@ else()
robot_nav_2d_utils robot_nav_2d_utils
robot_std_msgs robot_std_msgs
robot_geometry_msgs robot_geometry_msgs
tf3
robot_time robot_time
data_convert data_convert
robot_costmap_2d robot_costmap_2d
@@ -64,10 +65,15 @@ else()
robot_cpp robot_cpp
) )
find_package(Boost REQUIRED COMPONENTS system thread filesystem)
find_package(Eigen3 REQUIRED)
# Find tf3 library
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME} LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_std_msgs robot_geometry_msgs tf3 robot_time data_convert robot_costmap_2d robot_nav_core robot_cpp CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_std_msgs robot_geometry_msgs robot_time data_convert robot_costmap_2d robot_nav_core robot_cpp
DEPENDS Eigen3 Boost DEPENDS Eigen3 Boost
) )
@@ -76,6 +82,7 @@ else()
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
) )
endif() endif()
@@ -97,11 +104,13 @@ if(BUILDING_WITH_CATKIN)
PUBLIC PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include> $<INSTALL_INTERFACE:include>
${TF3_INCLUDE_DIR}
) )
target_link_libraries(${PROJECT_NAME} target_link_libraries(${PROJECT_NAME}
PUBLIC ${catkin_LIBRARIES} PUBLIC ${catkin_LIBRARIES}
PRIVATE Eigen3::Eigen Boost::system Boost::thread Boost::filesystem PRIVATE Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
${TF3_LIBRARY}
) )
else() else()
@@ -110,6 +119,7 @@ else()
PUBLIC PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include> $<INSTALL_INTERFACE:include>
${TF3_INCLUDE_DIR}
) )
target_link_libraries(${PROJECT_NAME} target_link_libraries(${PROJECT_NAME}
@@ -117,6 +127,7 @@ else()
${PACKAGES_DIR} ${PACKAGES_DIR}
PRIVATE PRIVATE
Eigen3::Eigen Boost::system Boost::thread Boost::filesystem Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
${TF3_LIBRARY}
) )
set_target_properties(${PROJECT_NAME} PROPERTIES set_target_properties(${PROJECT_NAME} PROPERTIES

4
package.xml
View File

@@ -34,8 +34,8 @@
<build_depend>robot_std_msgs</build_depend> <build_depend>robot_std_msgs</build_depend>
<run_depend>robot_std_msgs</run_depend> <run_depend>robot_std_msgs</run_depend>
<build_depend>tf3</build_depend>
<run_depend>tf3</run_depend>
<build_depend>robot_cpp</build_depend> <build_depend>robot_cpp</build_depend>
<run_depend>robot_cpp</run_depend> <run_depend>robot_cpp</run_depend>