git commit -m "first commit"

navigations/dwb_critics/CMakeLists.txt

@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(dwb_critics)
+
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+
+find_package(catkin REQUIRED COMPONENTS
+  angles
+  costmap_queue
+  dwb_local_planner
+  geometry_msgs
+  nav_2d_msgs
+  nav_2d_utils
+  nav_core2
+  nav_grid_iterators
+  pluginlib
+  roscpp
+  sensor_msgs
+)
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS angles costmap_queue dwb_local_planner geometry_msgs nav_2d_msgs nav_2d_utils nav_core2 nav_grid_iterators pluginlib roscpp sensor_msgs
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+    src/alignment_util.cpp
+    src/map_grid.cpp
+    src/goal_dist.cpp
+    src/path_dist.cpp
+    src/goal_align.cpp
+    src/path_align.cpp
+    src/base_obstacle.cpp
+    src/obstacle_footprint.cpp
+    src/oscillation.cpp
+    src/prefer_forward.cpp
+    src/rotate_to_goal.cpp
+    src/twirling.cpp
+)
+add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(roslint REQUIRED)
+  roslint_cpp()
+  roslint_add_test()
+endif()
+
+install(TARGETS ${PROJECT_NAME}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+install(FILES default_critics.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)