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/navfn/CMakeLists.txt
+++ b/navigations/navfn/CMakeLists.txt
@@ -0,0 +1,141 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(navfn)
+
+include(CheckIncludeFile)
+
+find_package(catkin REQUIRED
+    COMPONENTS
+        cmake_modules
+        costmap_2d
+        geometry_msgs
+        message_generation
+        nav_core
+        nav_msgs
+        pluginlib
+        rosconsole
+        roscpp
+        tf2_ros
+        sensor_msgs
+        visualization_msgs
+        )
+
+find_package(Eigen3 REQUIRED)
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
+)
+add_definitions(${EIGEN3_DEFINITIONS})
+
+
+# services
+add_service_files(
+    DIRECTORY srv
+    FILES
+    MakeNavPlan.srv
+    SetCostmap.srv
+)
+
+generate_messages(
+    DEPENDENCIES
+        geometry_msgs
+)
+
+catkin_package(
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        navfn
+    CATKIN_DEPENDS
+        geometry_msgs
+        message_runtime
+        nav_core
+        nav_msgs
+        pluginlib
+        roscpp
+        sensor_msgs
+        visualization_msgs
+)
+
+check_include_file(sys/time.h HAVE_SYS_TIME_H)
+if (HAVE_SYS_TIME_H)
+  add_definitions(-DHAVE_SYS_TIME_H)
+endif (HAVE_SYS_TIME_H)
+
+add_library (navfn src/navfn.cpp src/navfn_ros.cpp)
+target_link_libraries(navfn
+    ${catkin_LIBRARIES}
+    )
+add_dependencies(navfn ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+add_executable(navfn_node src/navfn_node.cpp)
+target_link_libraries(navfn_node
+    navfn
+    )
+
+install(TARGETS navfn_node
+       RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+       )
+
+install(TARGETS navfn
+       ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+       LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+       RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+       )
+
+install(DIRECTORY include/navfn/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(FILES bgp_plugin.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+### The problem with FindFLTK is that it only reports success if *all*
+### fltk components are installed, but we only need the core library.
+# include (FindFLTK)
+include (CheckIncludeFileCXX)
+check_include_file_cxx (FL/Fl.H NAVFN_HAVE_FLTK)
+check_include_file_cxx (pgm.h NAVFN_HAVE_NETPBM)
+message (STATUS "NAVFN_HAVE_FLTK: ${NAVFN_HAVE_FLTK}, NETPBM: ${NAVFN_HAVE_NETPBM}")
+# Just linking -lfltk is not sufficient on OS X
+if (NAVFN_HAVE_FLTK AND NAVFN_HAVE_NETPBM AND NOT APPLE)
+  message (STATUS "FLTK found: adding navtest to build")
+  add_executable (navtest src/navtest/navtest.cpp src/navtest/navwin.cpp)
+  set (FLTK_SKIP_FLUID 1)
+  set (FLTK_SKIP_FORMS 1)
+  set (FLTK_SKIP_IMAGES 1)
+  find_package(FLTK)
+  if(FLTK_FOUND)
+    target_link_libraries (navtest navfn netpbm ${FLTK_LIBRARIES})
+  else (FLTK_FOUND)
+    target_link_libraries (navtest navfn netpbm fltk)
+  endif (FLTK_FOUND)
+else (NAVFN_HAVE_FLTK)
+  message (STATUS "FLTK orf NETPBM not found: cannot build navtest")
+endif (NAVFN_HAVE_FLTK AND NAVFN_HAVE_NETPBM AND NOT APPLE)
+
+### For some reason (on cmake-2.4.7 at least) the "check" for pgm.h
+### always succeeds, even if pgm.h is not installed. It seems to be
+### caused by a bug in the rule that attempts to build the C source:
+### instead of directly calling e.g. 'gcc -c
+### /CMakeFiles/CMakeTmp/CheckIncludeFile.c' it goes through some make
+### infrastructure, which reports "Nothing to be done for
+### `CMakeFiles/cmTryCompileExec.dir/build'" and calls that a success.
+###
+### As a workaround we simply force everyone to install libnetpbm
+#
+# include (CheckIncludeFile)
+# check_include_file (pgm.h NAVFN_HAVE_NETPBM)
+# message (STATUS "NAVFN_HAVE_NETPBM: ${NAVFN_HAVE_NETPBM}")
+# if (NAVFN_HAVE_NETPBM)
+#   message (STATUS "found pgm.h")
+#   add_definitions (-DNAVFN_HAVE_NETPBM)
+#target_link_libraries (navfn -lnetpbm)
+# else (NAVFN_HAVE_NETPBM)
+#   message (STATUS "pgm.h not found (optional)")
+# endif (NAVFN_HAVE_NETPBM)
+
+if(CATKIN_ENABLE_TESTING)
+  add_subdirectory(test)
+endif()