git commit -m "first commit"

navigations/global_planner/CMakeLists.txt

@@ -0,0 +1,77 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(global_planner)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+    angles
+    costmap_2d
+    dynamic_reconfigure
+    geometry_msgs
+    nav_core
+    navfn
+    nav_msgs
+    pluginlib
+    roscpp
+    tf2_geometry_msgs
+    tf2_ros
+)
+
+generate_dynamic_reconfigure_options(
+  cfg/GlobalPlanner.cfg
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    costmap_2d
+    dynamic_reconfigure
+    geometry_msgs
+    nav_core
+    navfn
+    nav_msgs
+    pluginlib
+    roscpp
+    tf2_ros
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+  src/quadratic_calculator.cpp
+  src/dijkstra.cpp
+  src/astar.cpp
+  src/grid_path.cpp
+  src/gradient_path.cpp
+  src/orientation_filter.cpp
+  src/planner_core.cpp
+)
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+add_executable(planner
+  src/plan_node.cpp
+)
+add_dependencies(planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(planner
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+
+install(TARGETS planner
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  PATTERN ".svn" EXCLUDE)
+
+install(FILES bgp_plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})