update ros
This commit is contained in:
@@ -18,6 +18,8 @@ find_package(catkin REQUIRED COMPONENTS
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loc_core
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amr_comunication
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vda5050_msgs
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robot_nav_2d_utils
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move_base_core
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robot_cpp
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)
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@@ -26,83 +28,6 @@ find_package(catkin REQUIRED COMPONENTS
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find_package(Boost REQUIRED COMPONENTS system thread)
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find_package(PkgConfig)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# geometry_msgs# std_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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@@ -115,7 +40,14 @@ find_package(PkgConfig)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES amr_control
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CATKIN_DEPENDS geometry_msgs loc_core nav_2d_utils roscpp std_msgs move_base_core robot_cpp
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CATKIN_DEPENDS
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geometry_msgs
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loc_core
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nav_2d_utils
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move_base_core
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robot_cpp
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roscpp
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std_msgs
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DEPENDS Boost
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)
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@@ -137,14 +69,15 @@ add_library(${PROJECT_NAME}
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src/amr_monitor.cpp
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src/amr_safety.cpp
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src/amr_opc_ua_server_api.cpp
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# src/amr_vda_5050_client_api.cpp
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# src/amr_make_plan_with_order.cpp
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src/amr_vda_5050_client_api.cpp
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src/amr_make_plan_with_order.cpp
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)
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
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# Libraries will be found via LD_LIBRARY_PATH or system paths
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set_target_properties(${PROJECT_NAME} PROPERTIES
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@@ -156,29 +89,30 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/amr_control_node.cpp)
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add_executable(${PROJECT_NAME}_node src/amr_control_node.cpp)
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# add_executable(vda_5050_api_test test/vda_5050_api.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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#set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node
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# ${PROJECT_NAME}
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# ${${PROJECT_NAME}_EXPORTED_TARGETS}
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# ${catkin_EXPORTED_TARGETS}
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# )
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add_dependencies(${PROJECT_NAME}_node
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${PROJECT_NAME}
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
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# Libraries will be found via LD_LIBRARY_PATH or system paths
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES
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# SKIP_BUILD_RPATH TRUE
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# BUILD_WITH_INSTALL_RPATH FALSE
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# INSTALL_RPATH_USE_LINK_PATH FALSE
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# )
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set_target_properties(${PROJECT_NAME}_node PROPERTIES
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SKIP_BUILD_RPATH TRUE
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BUILD_WITH_INSTALL_RPATH FALSE
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INSTALL_RPATH_USE_LINK_PATH FALSE
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)
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# add_dependencies(vda_5050_api_test
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# ${PROJECT_NAME}
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@@ -200,11 +134,11 @@ target_link_libraries(${PROJECT_NAME}
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${Boost_LIBRARIES}
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)
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# target_link_libraries(${PROJECT_NAME}_node
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# ${PROJECT_NAME}
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# ${catkin_LIBRARIES}
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# ${Boost_LIBRARIES}
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# )
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target_link_libraries(${PROJECT_NAME}_node
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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)
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# target_link_libraries(vda_5050_api_test
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# ${PROJECT_NAME}
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@@ -229,9 +163,9 @@ target_link_libraries(${PROJECT_NAME}
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node vda_5050_api_test
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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install(TARGETS ${PROJECT_NAME}_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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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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