68 lines
1.7 KiB
CMake
Executable File
68 lines
1.7 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(dwa_local_planner)
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find_package(catkin REQUIRED
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COMPONENTS
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angles
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base_local_planner
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cmake_modules
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costmap_2d
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dynamic_reconfigure
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nav_core
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nav_msgs
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pluginlib
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sensor_msgs
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roscpp
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tf2
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tf2_geometry_msgs
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tf2_ros
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)
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find_package(Eigen3 REQUIRED)
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remove_definitions(-DDISABLE_LIBUSB-1.0)
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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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)
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add_definitions(${EIGEN3_DEFINITIONS})
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# dynamic reconfigure
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generate_dynamic_reconfigure_options(
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cfg/DWAPlanner.cfg
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES dwa_local_planner
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CATKIN_DEPENDS
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base_local_planner
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dynamic_reconfigure
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nav_msgs
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pluginlib
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sensor_msgs
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roscpp
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tf2
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tf2_ros
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)
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add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp)
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add_dependencies(dwa_local_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(dwa_local_planner ${catkin_LIBRARIES})
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target_compile_options(dwa_local_planner PUBLIC "-Wno-terminate")
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install(TARGETS dwa_local_planner
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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 blp_plugin.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY include/${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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