git commit -m "first commit"
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284
navigations/teb_local_planner/CMakeLists.txt
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284
navigations/teb_local_planner/CMakeLists.txt
Executable file
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cmake_minimum_required(VERSION 3.1)
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project(teb_local_planner)
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# Set to Release in order to speed up the program significantly
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set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel
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## Find catkin macros and libraries
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find_package(catkin REQUIRED COMPONENTS
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base_local_planner
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costmap_2d
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costmap_converter
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cmake_modules
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dynamic_reconfigure
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geometry_msgs
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interactive_markers
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message_generation
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nav_core
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nav_msgs
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mbf_costmap_core
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mbf_msgs
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roscpp
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std_msgs
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pluginlib
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tf2
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tf2_eigen
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tf2_geometry_msgs
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tf2_ros
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visualization_msgs
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)
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message(STATUS "System: ${CMAKE_SYSTEM}")
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## System dependencies are found with CMake's conventions
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SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake_modules)
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message(STATUS "${CMAKE_MODULE_PATH}")
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find_package(Boost REQUIRED COMPONENTS system thread graph)
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find_package(SUITESPARSE REQUIRED)
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find_package(G2O REQUIRED)
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# Eigen3 FindScript Backward compatibility (ubuntu saucy)
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# Since FindEigen.cmake is deprecated starting from jade.
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if (EXISTS "FindEigen3.cmake")
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find_package(Eigen3 REQUIRED)
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set(Eigen_INCLUDE_DIRS ${Eigen3_INCLUDE_DIRS})
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elseif (EXISTS "FindEigen.cmake")
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find_package(Eigen REQUIRED)
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elseif (EXISTS "FindEigen.cmake")
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message(WARNING "No findEigen cmake script found. You must provde one of them,
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e.g. by adding it to ${PROJECT_SOURCE_DIR}/cmake_modules.")
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endif (EXISTS "FindEigen3.cmake")
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set(EXTERNAL_INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} ${SUITESPARSE_INCLUDE_DIRS} ${G2O_INCLUDE_DIR})
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set(EXTERNAL_LIBS ${SUITESPARSE_LIBRARIES} ${G2O_LIBRARIES})
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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## C++11 support
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## Unfortunately, the 3d-party dependency libg2o requires c++11 starting from ROS Jade.
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## Even if the ROS Jade specifications do not want c++11-only packages,
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## we cannot compile without c++11 enabled. Another option would be to downgrade
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## libg2o third-party package.
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## By now, if you do not want c++11, please refer to the ros indigo version.
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IF(NOT MSVC)
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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else()
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message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support which is required
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by linked third party packages starting from ROS Jade. Ignore this message for ROS Indigo.")
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endif()
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endif()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependencies might have been
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## pulled in transitively but can be declared for certainty nonetheless:
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## * add a build_depend tag for "message_generation"
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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TrajectoryPointMsg.msg
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TrajectoryMsg.msg
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FeedbackMsg.msg
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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geometry_msgs std_msgs costmap_converter
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)
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#add dynamic reconfigure api
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#find_package(catkin REQUIRED dynamic_reconfigure)
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generate_dynamic_reconfigure_options(
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cfg/TebLocalPlannerReconfigure.cfg
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include ${EXTERNAL_INCLUDE_DIRS}
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LIBRARIES teb_local_planner ${EXTERNAL_LIBS}
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CATKIN_DEPENDS
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base_local_planner
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costmap_2d
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costmap_converter
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dynamic_reconfigure
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geometry_msgs
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interactive_markers
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message_runtime
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nav_core
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nav_msgs
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pluginlib
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roscpp
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mbf_costmap_core
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std_msgs
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tf2
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tf2_ros
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visualization_msgs
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DEPENDS SUITESPARSE G2O
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(include)
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include_directories(
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${EXTERNAL_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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## Build the teb_local_planner library
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add_library(teb_local_planner
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src/timed_elastic_band.cpp
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src/optimal_planner.cpp
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src/obstacles.cpp
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src/visualization.cpp
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src/recovery_behaviors.cpp
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src/teb_config.cpp
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src/homotopy_class_planner.cpp
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src/teb_local_planner_ros.cpp
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src/graph_search.cpp
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)
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# Dynamic reconfigure: make sure configure headers are built before any node using them
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add_dependencies(teb_local_planner ${PROJECT_NAME}_gencfg)
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# Generate messages before compiling the lib
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add_dependencies(teb_local_planner ${PROJECT_NAME}_generate_messages_cpp)
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target_link_libraries(teb_local_planner
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${EXTERNAL_LIBS}
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${catkin_LIBRARIES}
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)
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## Build additional executables
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add_executable(test_optim_node src/test_optim_node.cpp)
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target_link_libraries(test_optim_node
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teb_local_planner
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${EXTERNAL_LIBS}
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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install(PROGRAMS
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scripts/cmd_vel_to_ackermann_drive.py
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scripts/export_to_mat.py
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scripts/export_to_svg.py
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scripts/publish_dynamic_obstacle.py
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scripts/publish_test_obstacles.py
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scripts/publish_viapoints.py
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scripts/visualize_velocity_profile.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark executables and/or libraries for installation
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install(TARGETS teb_local_planner
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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install(TARGETS test_optim_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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#FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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install(FILES
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teb_local_planner_plugin.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY
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launch cfg scripts
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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PATTERN ".svn" EXCLUDE
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)
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#############
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## Testing ##
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#############
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if (CATKIN_ENABLE_TESTING)
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catkin_add_gtest(test_teb_basics test/teb_basics.cpp)
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if(TARGET test_teb_basics)
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target_link_libraries(test_teb_basics teb_local_planner)
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endif()
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endif()
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_teb_local_planner.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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