65 lines
1.6 KiB
CMake
Executable File
65 lines
1.6 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(dwb_critics)
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set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
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find_package(catkin REQUIRED COMPONENTS
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angles
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costmap_queue
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dwb_local_planner
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geometry_msgs
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nav_2d_msgs
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nav_2d_utils
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nav_core2
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nav_grid_iterators
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pluginlib
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roscpp
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sensor_msgs
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS angles costmap_queue dwb_local_planner geometry_msgs nav_2d_msgs nav_2d_utils nav_core2 nav_grid_iterators pluginlib roscpp sensor_msgs
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(${PROJECT_NAME}
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src/alignment_util.cpp
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src/map_grid.cpp
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src/goal_dist.cpp
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src/path_dist.cpp
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src/goal_align.cpp
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src/path_align.cpp
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src/base_obstacle.cpp
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src/obstacle_footprint.cpp
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src/oscillation.cpp
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src/prefer_forward.cpp
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src/rotate_to_goal.cpp
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src/twirling.cpp
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)
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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if(CATKIN_ENABLE_TESTING)
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find_package(roslint REQUIRED)
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roslint_cpp()
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roslint_add_test()
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endif()
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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 ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(FILES default_critics.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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