git commit -m "first commit"

2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
--- a/navigations/dwb_local_planner/CMakeLists.txt
+++ b/navigations/dwb_local_planner/CMakeLists.txt
@@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(dwb_local_planner)
+
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+
+find_package(catkin REQUIRED COMPONENTS
+  dwb_msgs
+  geometry_msgs
+  nav_2d_msgs
+  nav_2d_utils
+  nav_core2
+  nav_msgs
+  pluginlib
+  roscpp
+  sensor_msgs
+  tf
+  visualization_msgs
+)
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES dwb_local_planner debug_dwb_local_planner trajectory_utils
+    CATKIN_DEPENDS
+        dwb_msgs geometry_msgs nav_2d_msgs nav_2d_utils nav_core2
+        nav_msgs pluginlib roscpp sensor_msgs tf visualization_msgs
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(dwb_local_planner src/dwb_local_planner.cpp
+                              src/backwards_compatibility.cpp
+                              src/publisher.cpp
+                              src/illegal_trajectory_tracker.cpp
+)
+target_link_libraries(dwb_local_planner ${catkin_LIBRARIES})
+add_dependencies(dwb_local_planner ${catkin_EXPORTED_TARGETS})
+
+add_library(debug_dwb_local_planner src/debug_dwb_local_planner.cpp)
+target_link_libraries(debug_dwb_local_planner ${catkin_LIBRARIES} dwb_local_planner)
+add_dependencies(debug_dwb_local_planner ${catkin_EXPORTED_TARGETS})
+
+add_library(trajectory_utils src/trajectory_utils.cpp)
+target_link_libraries(trajectory_utils ${catkin_LIBRARIES})
+
+add_executable(${PROJECT_NAME}_planner_node src/planner_node.cpp)
+target_link_libraries(${PROJECT_NAME}_planner_node ${catkin_LIBRARIES} debug_dwb_local_planner)
+add_dependencies(${PROJECT_NAME}_planner_node ${catkin_EXPORTED_TARGETS})
+set_target_properties(${PROJECT_NAME}_planner_node PROPERTIES OUTPUT_NAME planner_node PREFIX "")
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  find_package(roslint REQUIRED)
+  roslint_cpp()
+  roslint_add_test()
+
+  catkin_add_gtest(utils_test test/utils_test.cpp)
+  target_link_libraries(utils_test trajectory_utils)
+endif()
+
+install(TARGETS ${PROJECT_NAME}_planner_node
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(TARGETS dwb_local_planner debug_dwb_local_planner trajectory_utils
+        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 plugins.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+        FILES_MATCHING PATTERN "*.launch"
+)