git commit -m "first commit"

navigations/dwa_local_planner/CMakeLists.txt

@@ -0,0 +1,67 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(dwa_local_planner)
+
+find_package(catkin REQUIRED
+        COMPONENTS
+            angles
+            base_local_planner
+            cmake_modules
+            costmap_2d
+            dynamic_reconfigure
+            nav_core
+            nav_msgs
+            pluginlib
+            sensor_msgs
+            roscpp
+            tf2
+            tf2_geometry_msgs
+            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})
+
+# dynamic reconfigure
+generate_dynamic_reconfigure_options(
+    cfg/DWAPlanner.cfg
+)
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES dwa_local_planner
+    CATKIN_DEPENDS
+        base_local_planner
+        dynamic_reconfigure
+        nav_msgs
+        pluginlib
+        sensor_msgs
+        roscpp
+        tf2
+        tf2_ros
+)
+
+add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp)
+add_dependencies(dwa_local_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(dwa_local_planner ${catkin_LIBRARIES})
+target_compile_options(dwa_local_planner PUBLIC "-Wno-terminate")
+
+install(TARGETS dwa_local_planner
+       ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+       LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+       RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+       )
+
+install(FILES blp_plugin.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  PATTERN ".svn" EXCLUDE
+)