git commit -m "first commit"

navigations/sbpl_lattice_planner/CMakeLists.txt

@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 3.5.1)
+cmake_policy(SET CMP0048 NEW)
+project(sbpl_lattice_planner)
+
+##############################################################################
+# Find dependencies
+##############################################################################
+
+set(THIS_PACKAGE_ROS_DEPS roscpp costmap_2d nav_core pluginlib tf tf2
+  geometry_msgs nav_msgs)
+find_package(catkin REQUIRED COMPONENTS
+  ${THIS_PACKAGE_ROS_DEPS} message_generation)
+
+# Find SBPL
+# find_package(SBPL REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(SBPL REQUIRED sbpl)
+# include_directories(${SBPL_INCLUDE_DIRS})
+link_directories(${SBPL_LIBRARY_DIRS})
+
+# include_directories(include ${catkin_INCLUDE_DIRS} ${SBPL_INCLUDE_DIRS})
+
+##############################################################################
+# Generate messages
+##############################################################################
+
+add_message_files(FILES 
+                  SBPLLatticePlannerStats.msg 
+                  OccupancyGrid.msg)
+generate_messages(DEPENDENCIES geometry_msgs nav_msgs)
+
+##############################################################################
+# Define package
+##############################################################################
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS} message_runtime
+  # DEPENDS SBPL
+)
+
+##############################################################################
+# Build
+##############################################################################
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${SBPL_INCLUDE_DIRS}
+)
+add_library(${PROJECT_NAME} src/sbpl_lattice_planner.cpp)
+target_link_libraries(${PROJECT_NAME} ${SBPL_LIBRARIES})
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_compile_options(${PROJECT_NAME} PUBLIC "-Wno-terminate")  # suppress warning from included SBPL header
+
+##############################################################################
+# Install
+##############################################################################
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+install(FILES bgp_plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY
+  launch
+  matlab
+  rviz
+  worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)