git commit -m "first commit"

navigations/dwb_plugins/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(dwb_plugins)
+
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+
+find_package(catkin REQUIRED COMPONENTS angles dwb_local_planner dynamic_reconfigure nav_2d_msgs nav_2d_utils nav_core2 pluginlib roscpp)
+
+generate_dynamic_reconfigure_options(cfg/KinematicParams.cfg)
+
+catkin_package(
+    INCLUDE_DIRS include
+    CATKIN_DEPENDS angles dwb_local_planner dynamic_reconfigure nav_2d_msgs nav_2d_utils nav_core2 pluginlib roscpp
+    LIBRARIES simple_goal_checker stopped_goal_checker standard_traj_generator
+)
+
+include_directories(
+  include ${catkin_INCLUDE_DIRS}
+)
+
+add_library(simple_goal_checker src/simple_goal_checker.cpp)
+target_link_libraries(simple_goal_checker ${catkin_LIBRARIES})
+add_dependencies(simple_goal_checker ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS})
+
+add_library(stopped_goal_checker src/stopped_goal_checker.cpp)
+target_link_libraries(stopped_goal_checker simple_goal_checker ${catkin_LIBRARIES})
+add_dependencies(stopped_goal_checker ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS})
+
+add_library(standard_traj_generator
+            src/standard_traj_generator.cpp
+            src/limited_accel_generator.cpp
+            src/kinematic_parameters.cpp
+            src/xy_theta_iterator.cpp)
+target_link_libraries(standard_traj_generator ${catkin_LIBRARIES})
+add_dependencies(standard_traj_generator ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS})
+
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(vtest test/velocity_iterator_test.cpp)
+
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(goal_checker test/goal_checker.launch test/goal_checker.cpp)
+  target_link_libraries(goal_checker simple_goal_checker stopped_goal_checker ${GTEST_LIBRARIES})
+
+  add_rostest_gtest(twist_gen_test test/twist_gen.launch test/twist_gen.cpp)
+  target_link_libraries(twist_gen_test standard_traj_generator ${GTEST_LIBRARIES})
+
+  find_package(roslint REQUIRED)
+  roslint_cpp()
+  roslint_add_test()
+endif (CATKIN_ENABLE_TESTING)
+
+install(TARGETS simple_goal_checker stopped_goal_checker standard_traj_generator
+        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}
+)