285 lines
8.4 KiB
CMake
Executable File
285 lines
8.4 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.1)
|
|
project(teb_local_planner)
|
|
|
|
# Set to Release in order to speed up the program significantly
|
|
set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel
|
|
|
|
## Find catkin macros and libraries
|
|
find_package(catkin REQUIRED COMPONENTS
|
|
base_local_planner
|
|
costmap_2d
|
|
costmap_converter
|
|
cmake_modules
|
|
dynamic_reconfigure
|
|
geometry_msgs
|
|
interactive_markers
|
|
message_generation
|
|
nav_core
|
|
nav_msgs
|
|
mbf_costmap_core
|
|
mbf_msgs
|
|
roscpp
|
|
std_msgs
|
|
pluginlib
|
|
tf2
|
|
tf2_eigen
|
|
tf2_geometry_msgs
|
|
tf2_ros
|
|
visualization_msgs
|
|
)
|
|
message(STATUS "System: ${CMAKE_SYSTEM}")
|
|
## System dependencies are found with CMake's conventions
|
|
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake_modules)
|
|
message(STATUS "${CMAKE_MODULE_PATH}")
|
|
find_package(Boost REQUIRED COMPONENTS system thread graph)
|
|
find_package(SUITESPARSE REQUIRED)
|
|
find_package(G2O REQUIRED)
|
|
|
|
# Eigen3 FindScript Backward compatibility (ubuntu saucy)
|
|
# Since FindEigen.cmake is deprecated starting from jade.
|
|
if (EXISTS "FindEigen3.cmake")
|
|
find_package(Eigen3 REQUIRED)
|
|
set(Eigen_INCLUDE_DIRS ${Eigen3_INCLUDE_DIRS})
|
|
elseif (EXISTS "FindEigen.cmake")
|
|
find_package(Eigen REQUIRED)
|
|
elseif (EXISTS "FindEigen.cmake")
|
|
message(WARNING "No findEigen cmake script found. You must provde one of them,
|
|
e.g. by adding it to ${PROJECT_SOURCE_DIR}/cmake_modules.")
|
|
endif (EXISTS "FindEigen3.cmake")
|
|
|
|
set(EXTERNAL_INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} ${SUITESPARSE_INCLUDE_DIRS} ${G2O_INCLUDE_DIR})
|
|
set(EXTERNAL_LIBS ${SUITESPARSE_LIBRARIES} ${G2O_LIBRARIES})
|
|
|
|
## Uncomment this if the package has a setup.py. This macro ensures
|
|
## modules and global scripts declared therein get installed
|
|
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
|
# catkin_python_setup()
|
|
|
|
|
|
## C++11 support
|
|
## Unfortunately, the 3d-party dependency libg2o requires c++11 starting from ROS Jade.
|
|
## Even if the ROS Jade specifications do not want c++11-only packages,
|
|
## we cannot compile without c++11 enabled. Another option would be to downgrade
|
|
## libg2o third-party package.
|
|
## By now, if you do not want c++11, please refer to the ros indigo version.
|
|
IF(NOT MSVC)
|
|
include(CheckCXXCompilerFlag)
|
|
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
|
|
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
|
|
if(COMPILER_SUPPORTS_CXX11)
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
|
|
elseif(COMPILER_SUPPORTS_CXX0X)
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
|
|
else()
|
|
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support which is required
|
|
by linked third party packages starting from ROS Jade. Ignore this message for ROS Indigo.")
|
|
endif()
|
|
endif()
|
|
|
|
################################################
|
|
## Declare ROS messages, services and actions ##
|
|
################################################
|
|
|
|
## To declare and build messages, services or actions from within this
|
|
## package, follow these steps:
|
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
|
## * In the file package.xml:
|
|
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
|
|
## * If MSG_DEP_SET isn't empty the following dependencies might have been
|
|
## pulled in transitively but can be declared for certainty nonetheless:
|
|
## * add a build_depend tag for "message_generation"
|
|
## * add a run_depend tag for "message_runtime"
|
|
## * In this file (CMakeLists.txt):
|
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
|
## catkin_package(CATKIN_DEPENDS ...)
|
|
## * uncomment the add_*_files sections below as needed
|
|
## and list every .msg/.srv/.action file to be processed
|
|
## * uncomment the generate_messages entry below
|
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
|
|
|
## Generate messages in the 'msg' folder
|
|
add_message_files(
|
|
FILES
|
|
TrajectoryPointMsg.msg
|
|
TrajectoryMsg.msg
|
|
FeedbackMsg.msg
|
|
)
|
|
|
|
## Generate services in the 'srv' folder
|
|
# add_service_files(
|
|
# FILES
|
|
# Service1.srv
|
|
# Service2.srv
|
|
# )
|
|
|
|
## Generate actions in the 'action' folder
|
|
# add_action_files(
|
|
# FILES
|
|
# Action1.action
|
|
# Action2.action
|
|
# )
|
|
|
|
## Generate added messages and services with any dependencies listed here
|
|
generate_messages(
|
|
DEPENDENCIES
|
|
geometry_msgs std_msgs costmap_converter
|
|
)
|
|
|
|
#add dynamic reconfigure api
|
|
#find_package(catkin REQUIRED dynamic_reconfigure)
|
|
generate_dynamic_reconfigure_options(
|
|
cfg/TebLocalPlannerReconfigure.cfg
|
|
)
|
|
|
|
|
|
###################################
|
|
## catkin specific configuration ##
|
|
###################################
|
|
## The catkin_package macro generates cmake config files for your package
|
|
## Declare things to be passed to dependent projects
|
|
## INCLUDE_DIRS: uncomment this if you package contains header files
|
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
|
catkin_package(
|
|
INCLUDE_DIRS include ${EXTERNAL_INCLUDE_DIRS}
|
|
LIBRARIES teb_local_planner ${EXTERNAL_LIBS}
|
|
CATKIN_DEPENDS
|
|
base_local_planner
|
|
costmap_2d
|
|
costmap_converter
|
|
dynamic_reconfigure
|
|
geometry_msgs
|
|
interactive_markers
|
|
message_runtime
|
|
nav_core
|
|
nav_msgs
|
|
pluginlib
|
|
roscpp
|
|
mbf_costmap_core
|
|
std_msgs
|
|
tf2
|
|
tf2_ros
|
|
visualization_msgs
|
|
DEPENDS SUITESPARSE G2O
|
|
)
|
|
|
|
###########
|
|
## Build ##
|
|
###########
|
|
|
|
## Specify additional locations of header files
|
|
## Your package locations should be listed before other locations
|
|
include_directories(include)
|
|
include_directories(
|
|
${EXTERNAL_INCLUDE_DIRS}
|
|
${catkin_INCLUDE_DIRS}
|
|
)
|
|
|
|
## Build the teb_local_planner library
|
|
|
|
add_library(teb_local_planner
|
|
src/timed_elastic_band.cpp
|
|
src/optimal_planner.cpp
|
|
src/obstacles.cpp
|
|
src/visualization.cpp
|
|
src/recovery_behaviors.cpp
|
|
src/teb_config.cpp
|
|
src/homotopy_class_planner.cpp
|
|
src/teb_local_planner_ros.cpp
|
|
src/graph_search.cpp
|
|
)
|
|
|
|
# Dynamic reconfigure: make sure configure headers are built before any node using them
|
|
add_dependencies(teb_local_planner ${PROJECT_NAME}_gencfg)
|
|
# Generate messages before compiling the lib
|
|
add_dependencies(teb_local_planner ${PROJECT_NAME}_generate_messages_cpp)
|
|
|
|
target_link_libraries(teb_local_planner
|
|
${EXTERNAL_LIBS}
|
|
${catkin_LIBRARIES}
|
|
)
|
|
|
|
|
|
|
|
## Build additional executables
|
|
|
|
add_executable(test_optim_node src/test_optim_node.cpp)
|
|
|
|
target_link_libraries(test_optim_node
|
|
teb_local_planner
|
|
${EXTERNAL_LIBS}
|
|
${catkin_LIBRARIES}
|
|
)
|
|
|
|
|
|
#############
|
|
## Install ##
|
|
#############
|
|
|
|
# all install targets should use catkin DESTINATION variables
|
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
|
|
|
## Mark executable scripts (Python etc.) for installation
|
|
## in contrast to setup.py, you can choose the destination
|
|
install(PROGRAMS
|
|
scripts/cmd_vel_to_ackermann_drive.py
|
|
scripts/export_to_mat.py
|
|
scripts/export_to_svg.py
|
|
scripts/publish_dynamic_obstacle.py
|
|
scripts/publish_test_obstacles.py
|
|
scripts/publish_viapoints.py
|
|
scripts/visualize_velocity_profile.py
|
|
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
## Mark executables and/or libraries for installation
|
|
install(TARGETS teb_local_planner
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
)
|
|
install(TARGETS test_optim_node
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
## Mark cpp header files for installation
|
|
install(DIRECTORY include/${PROJECT_NAME}/
|
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
|
#FILES_MATCHING PATTERN "*.h"
|
|
PATTERN ".svn" EXCLUDE
|
|
)
|
|
|
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
|
install(FILES
|
|
teb_local_planner_plugin.xml
|
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
)
|
|
|
|
install(DIRECTORY
|
|
launch cfg scripts
|
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
PATTERN ".svn" EXCLUDE
|
|
)
|
|
|
|
#############
|
|
## Testing ##
|
|
#############
|
|
|
|
if (CATKIN_ENABLE_TESTING)
|
|
catkin_add_gtest(test_teb_basics test/teb_basics.cpp)
|
|
if(TARGET test_teb_basics)
|
|
target_link_libraries(test_teb_basics teb_local_planner)
|
|
endif()
|
|
endif()
|
|
|
|
## Add gtest based cpp test target and link libraries
|
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_teb_local_planner.cpp)
|
|
# if(TARGET ${PROJECT_NAME}-test)
|
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
|
# endif()
|
|
|
|
## Add folders to be run by python nosetests
|
|
# catkin_add_nosetests(test)
|