245 lines
8.1 KiB
CMake
Executable File
245 lines
8.1 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.1)
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project(costmap_converter)
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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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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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roscpp
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std_msgs
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message_generation
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costmap_2d
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dynamic_reconfigure
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pluginlib
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cv_bridge
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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find_package(OpenCV REQUIRED)
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###set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR})
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###find_package(Eigen3 REQUIRED)
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###set(EXTERNAL_INCLUDE_DIRS ${Eigen3_INCLUDE_DIRS})
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if (CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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endif()
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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## C++11 support
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IF(NOT MSVC)
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${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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ObstacleMsg.msg
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ObstacleArrayMsg.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
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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/dynamic_reconfigure/CostmapToPolygonsDBSMCCH.cfg
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cfg/dynamic_reconfigure/CostmapToPolygonsDBSConcaveHull.cfg
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cfg/dynamic_reconfigure/CostmapToLinesDBSMCCH.cfg
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cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg
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cfg/dynamic_reconfigure/CostmapToDynamicObstacles.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
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LIBRARIES costmap_converter
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CATKIN_DEPENDS
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geometry_msgs
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pluginlib
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roscpp
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std_msgs
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message_runtime
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dynamic_reconfigure
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costmap_2d
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#DEPENDS
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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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include
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${catkin_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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)
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## Declare a cpp library
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add_library(costmap_converter src/costmap_to_polygons.cpp
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src/costmap_to_polygons_concave.cpp
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src/costmap_to_lines_convex_hull.cpp
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src/costmap_to_lines_ransac.cpp
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src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp
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src/costmap_to_dynamic_obstacles/background_subtractor.cpp
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src/costmap_to_dynamic_obstacles/blob_detector.cpp
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src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp
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src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp
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src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp
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)
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target_link_libraries(costmap_converter ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
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# target_compile_features(costmap_converter PUBLIC cxx_nullptr cxx_range_for)
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# Dynamic reconfigure: make sure configure headers raare built before any node using them
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add_dependencies(costmap_converter ${PROJECT_NAME}_gencfg)
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# Generate messages before compiling the lib
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add_dependencies(costmap_converter ${PROJECT_NAME}_generate_messages_cpp)
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## Declare a cpp executable
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add_executable(standalone_converter src/costmap_converter_node.cpp)
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target_link_libraries(standalone_converter ${catkin_LIBRARIES} )
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add_dependencies(standalone_converter costmap_converter)
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# (un)set: cmake -DCVV_DEBUG_MODE=OFF ..
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option(CVV_DEBUG_MODE "cvvisual-debug-mode" ON)
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if(CVV_DEBUG_MODE MATCHES ON)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DCVVISUAL_DEBUGMODE")
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endif()
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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/my_python_script
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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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## Mark executables and/or libraries for installation
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install(TARGETS costmap_converter
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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install(TARGETS standalone_converter
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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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plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY
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cfg
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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PATTERN ".svn" EXCLUDE
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)
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#############
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## Testing ##
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#############
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if (CATKIN_ENABLE_TESTING)
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add_rostest_gtest(test_costmap_polygons test/costmap_polygons.test test/costmap_polygons.cpp)
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if(TARGET test_costmap_polygons)
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target_link_libraries(test_costmap_polygons costmap_converter)
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endif()
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endif()
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_drawing.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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