62 lines
2.4 KiB
CMake
Executable File
62 lines
2.4 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(dwb_plugins)
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set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
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find_package(catkin REQUIRED COMPONENTS angles dwb_local_planner dynamic_reconfigure nav_2d_msgs nav_2d_utils nav_core2 pluginlib roscpp)
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generate_dynamic_reconfigure_options(cfg/KinematicParams.cfg)
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS angles dwb_local_planner dynamic_reconfigure nav_2d_msgs nav_2d_utils nav_core2 pluginlib roscpp
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LIBRARIES simple_goal_checker stopped_goal_checker standard_traj_generator
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)
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include_directories(
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include ${catkin_INCLUDE_DIRS}
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)
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add_library(simple_goal_checker src/simple_goal_checker.cpp)
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target_link_libraries(simple_goal_checker ${catkin_LIBRARIES})
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add_dependencies(simple_goal_checker ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS})
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add_library(stopped_goal_checker src/stopped_goal_checker.cpp)
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target_link_libraries(stopped_goal_checker simple_goal_checker ${catkin_LIBRARIES})
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add_dependencies(stopped_goal_checker ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS})
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add_library(standard_traj_generator
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src/standard_traj_generator.cpp
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src/limited_accel_generator.cpp
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src/kinematic_parameters.cpp
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src/xy_theta_iterator.cpp)
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target_link_libraries(standard_traj_generator ${catkin_LIBRARIES})
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add_dependencies(standard_traj_generator ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS})
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if (CATKIN_ENABLE_TESTING)
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catkin_add_gtest(vtest test/velocity_iterator_test.cpp)
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find_package(rostest REQUIRED)
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add_rostest_gtest(goal_checker test/goal_checker.launch test/goal_checker.cpp)
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target_link_libraries(goal_checker simple_goal_checker stopped_goal_checker ${GTEST_LIBRARIES})
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add_rostest_gtest(twist_gen_test test/twist_gen.launch test/twist_gen.cpp)
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target_link_libraries(twist_gen_test standard_traj_generator ${GTEST_LIBRARIES})
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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 (CATKIN_ENABLE_TESTING)
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install(TARGETS simple_goal_checker stopped_goal_checker standard_traj_generator
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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 plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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