Add costmap_2d package sources
Convert navigations/costmap_2d from gitlink to normal tracked files.
This commit is contained in:
221
navigations/costmap_2d/CMakeLists.txt
Executable file
221
navigations/costmap_2d/CMakeLists.txt
Executable file
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cmake_minimum_required(VERSION 3.0.2)
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project(costmap_2d)
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find_package(catkin REQUIRED
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COMPONENTS
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cmake_modules
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dynamic_reconfigure
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geometry_msgs
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laser_geometry
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map_msgs
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message_filters
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message_generation
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nav_msgs
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pluginlib
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roscpp
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sensor_msgs
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std_msgs
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tf2
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tf2_geometry_msgs
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tf2_ros
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tf2_sensor_msgs
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visualization_msgs
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voxel_grid
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)
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find_package(Eigen3 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system thread)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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add_definitions(${EIGEN3_DEFINITIONS})
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# messages
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add_message_files(
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DIRECTORY msg
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FILES
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VoxelGrid.msg
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)
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generate_messages(
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DEPENDENCIES
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std_msgs
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geometry_msgs
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map_msgs
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)
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# dynamic reconfigure
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generate_dynamic_reconfigure_options(
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cfg/Costmap2D.cfg
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cfg/ObstaclePlugin.cfg
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cfg/GenericPlugin.cfg
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cfg/InflationPlugin.cfg
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cfg/VoxelPlugin.cfg
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)
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catkin_package(
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INCLUDE_DIRS
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include
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${EIGEN3_INCLUDE_DIRS}
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LIBRARIES costmap_2d layers
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CATKIN_DEPENDS
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dynamic_reconfigure
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geometry_msgs
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laser_geometry
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map_msgs
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message_filters
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message_runtime
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nav_msgs
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pluginlib
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roscpp
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sensor_msgs
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std_msgs
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tf2_ros
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visualization_msgs
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voxel_grid
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DEPENDS
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EIGEN3
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Boost
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)
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add_library(costmap_2d
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src/array_parser.cpp
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src/costmap_2d.cpp
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src/observation_buffer.cpp
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src/layer.cpp
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src/layered_costmap.cpp
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src/costmap_2d_ros.cpp
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src/costmap_2d_publisher.cpp
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src/costmap_math.cpp
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src/footprint.cpp
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src/costmap_layer.cpp
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)
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add_dependencies(costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(costmap_2d
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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)
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add_library(layers
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plugins/inflation_layer.cpp
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plugins/obstacle_layer.cpp
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plugins/static_layer.cpp
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plugins/voxel_layer.cpp
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plugins/preferred_layer.cpp
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plugins/unpreferred_layer.cpp
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plugins/critical_layer.cpp
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plugins/directional_layer.cpp
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src/observation_buffer.cpp
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)
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add_dependencies(layers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(layers
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costmap_2d
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)
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add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
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add_dependencies(costmap_2d_markers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(costmap_2d_markers
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costmap_2d
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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)
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add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
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add_dependencies(costmap_2d_cloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(costmap_2d_cloud
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costmap_2d
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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)
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add_executable(costmap_2d_node src/costmap_2d_node.cpp)
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add_dependencies(costmap_2d_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(costmap_2d_node
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costmap_2d
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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)
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## Configure Tests
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if(CATKIN_ENABLE_TESTING)
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# Find package test dependencies
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find_package(rostest REQUIRED)
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# Add the test folder to the include directories
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include_directories(test)
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# Create targets for test executables
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add_executable(costmap_tester EXCLUDE_FROM_ALL test/costmap_tester.cpp)
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add_dependencies(tests costmap_tester)
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target_link_libraries(costmap_tester costmap_2d ${GTEST_LIBRARIES})
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add_executable(footprint_tests EXCLUDE_FROM_ALL test/footprint_tests.cpp)
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add_dependencies(tests footprint_tests)
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target_link_libraries(footprint_tests costmap_2d ${GTEST_LIBRARIES})
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add_executable(obstacle_tests EXCLUDE_FROM_ALL test/obstacle_tests.cpp)
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add_dependencies(tests obstacle_tests)
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target_link_libraries(obstacle_tests costmap_2d layers ${GTEST_LIBRARIES})
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add_executable(static_tests EXCLUDE_FROM_ALL test/static_tests.cpp)
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add_dependencies(tests static_tests)
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target_link_libraries(static_tests costmap_2d layers ${GTEST_LIBRARIES})
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add_executable(inflation_tests EXCLUDE_FROM_ALL test/inflation_tests.cpp)
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add_dependencies(tests inflation_tests)
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target_link_libraries(inflation_tests costmap_2d layers ${GTEST_LIBRARIES})
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catkin_download_test_data(${PROJECT_NAME}_simple_driving_test_indexed.bag
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http://download.ros.org/data/costmap_2d/simple_driving_test_indexed.bag
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DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
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MD5 61168cff9425b11e093ea3a627c81c8d)
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catkin_download_test_data(${PROJECT_NAME}_willow-full-0.025.pgm
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http://download.ros.org/data/costmap_2d/willow-full-0.025.pgm
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DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
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MD5 e66b17ee374f2d7657972efcb3e2e4f7)
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add_rostest(test/footprint_tests.launch)
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add_rostest(test/inflation_tests.launch)
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add_rostest(test/obstacle_tests.launch)
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add_rostest(test/simple_driving_test.xml)
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add_rostest(test/static_tests.launch)
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catkin_add_gtest(array_parser_test test/array_parser_test.cpp)
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target_link_libraries(array_parser_test costmap_2d)
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catkin_add_gtest(coordinates_test test/coordinates_test.cpp)
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target_link_libraries(coordinates_test costmap_2d)
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endif()
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install( TARGETS
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costmap_2d_markers
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costmap_2d_cloud
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costmap_2d_node
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(TARGETS
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costmap_2d
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layers
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(FILES costmap_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(FILES test/TenByTen.yaml test/TenByTen.pgm
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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PATTERN ".svn" EXCLUDE
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)
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