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