78 lines
1.6 KiB
CMake
Executable File
78 lines
1.6 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(global_planner)
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find_package(catkin REQUIRED
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COMPONENTS
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angles
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costmap_2d
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dynamic_reconfigure
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geometry_msgs
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nav_core
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navfn
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nav_msgs
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pluginlib
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roscpp
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tf2_geometry_msgs
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tf2_ros
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)
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generate_dynamic_reconfigure_options(
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cfg/GlobalPlanner.cfg
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS
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costmap_2d
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dynamic_reconfigure
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geometry_msgs
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nav_core
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navfn
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nav_msgs
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pluginlib
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roscpp
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tf2_ros
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(${PROJECT_NAME}
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src/quadratic_calculator.cpp
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src/dijkstra.cpp
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src/astar.cpp
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src/grid_path.cpp
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src/gradient_path.cpp
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src/orientation_filter.cpp
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src/planner_core.cpp
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)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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add_executable(planner
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src/plan_node.cpp
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)
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add_dependencies(planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(planner
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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install(TARGETS ${PROJECT_NAME}
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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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install(TARGETS planner
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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PATTERN ".svn" EXCLUDE)
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install(FILES bgp_plugin.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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