git commit -m "first commit"

navigations/clear_costmap_recovery/CMakeLists.txt

@@ -0,0 +1,66 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(clear_costmap_recovery)
+
+find_package(catkin REQUIRED
+        COMPONENTS
+            cmake_modules
+            costmap_2d
+            nav_core
+            pluginlib
+            roscpp
+            tf2_ros
+        )
+
+find_package(Eigen3 REQUIRED)
+remove_definitions(-DDISABLE_LIBUSB-1.0)
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
+)
+add_definitions(${EIGEN3_DEFINITIONS})
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES clear_costmap_recovery
+    CATKIN_DEPENDS
+        costmap_2d
+        nav_core
+        pluginlib
+        roscpp
+        tf2_ros
+)
+
+add_library(clear_costmap_recovery src/clear_costmap_recovery.cpp)
+add_dependencies(clear_costmap_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(clear_costmap_recovery ${catkin_LIBRARIES})
+
+
+## Configure Tests
+if(CATKIN_ENABLE_TESTING)
+  # Find package test dependencies
+  find_package(rostest REQUIRED)
+
+  # Add the test folder to the include directories
+  include_directories(test)
+
+  # Create targets for test executables
+  add_rostest_gtest(clear_tester test/clear_tests.launch test/clear_tester.cpp)
+  target_link_libraries(clear_tester clear_costmap_recovery ${GTEST_LIBRARIES})
+endif()
+
+
+install(TARGETS clear_costmap_recovery
+       ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+       LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+       RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+       )
+
+install(FILES ccr_plugin.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  PATTERN ".svn" EXCLUDE
+)