166 lines
4.0 KiB
CMake
Executable File
166 lines
4.0 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(base_local_planner)
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include(CheckIncludeFile)
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find_package(catkin REQUIRED
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COMPONENTS
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angles
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cmake_modules
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costmap_2d
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dynamic_reconfigure
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geometry_msgs
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message_generation
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nav_core
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nav_msgs
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pluginlib
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roscpp
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rospy
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sensor_msgs
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std_msgs
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tf2
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tf2_geometry_msgs
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tf2_ros
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voxel_grid
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)
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find_package(Boost REQUIRED
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COMPONENTS
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thread
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)
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find_package(Eigen3 REQUIRED)
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remove_definitions(-DDISABLE_LIBUSB-1.0)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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)
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add_definitions(${EIGEN3_DEFINITIONS})
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catkin_python_setup()
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# messages
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add_message_files(
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DIRECTORY msg
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FILES
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Position2DInt.msg
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)
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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# dynamic reconfigure
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generate_dynamic_reconfigure_options(
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cfg/BaseLocalPlanner.cfg
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES
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base_local_planner
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trajectory_planner_ros
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CATKIN_DEPENDS
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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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message_runtime
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nav_core
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nav_msgs
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pluginlib
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roscpp
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sensor_msgs
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std_msgs
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tf2
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tf2_ros
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voxel_grid
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)
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check_include_file(sys/time.h HAVE_SYS_TIME_H)
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if (HAVE_SYS_TIME_H)
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add_definitions(-DHAVE_SYS_TIME_H)
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endif (HAVE_SYS_TIME_H)
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#uncomment for profiling
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#set(ROS_COMPILE_FLAGS "-g -pg" ${ROS_COMPILE_FLAGS})
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#set(ROS_LINK_FLAGS "-g -pg" ${ROS_LINK_FLAGS})
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#set(ROS_COMPILE_FLAGS "-g" ${ROS_COMPILE_FLAGS})
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#set(ROS_LINK_FLAGS "-g" ${ROS_LINK_FLAGS})
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add_library(base_local_planner
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src/footprint_helper.cpp
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src/goal_functions.cpp
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src/map_cell.cpp
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src/map_grid.cpp
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src/map_grid_visualizer.cpp
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src/map_grid_cost_function.cpp
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src/latched_stop_rotate_controller.cpp
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src/local_planner_util.cpp
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src/odometry_helper_ros.cpp
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src/obstacle_cost_function.cpp
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src/oscillation_cost_function.cpp
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src/prefer_forward_cost_function.cpp
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src/point_grid.cpp
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src/costmap_model.cpp
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src/simple_scored_sampling_planner.cpp
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src/simple_trajectory_generator.cpp
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src/trajectory.cpp
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src/twirling_cost_function.cpp
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src/voxel_grid_model.cpp)
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add_dependencies(base_local_planner base_local_planner_gencfg)
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add_dependencies(base_local_planner base_local_planner_generate_messages_cpp)
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add_dependencies(base_local_planner nav_msgs_generate_messages_cpp)
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target_link_libraries(base_local_planner
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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${Eigen_LIBRARIES}
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)
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add_library(trajectory_planner_ros
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src/trajectory_planner.cpp
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src/trajectory_planner_ros.cpp)
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add_dependencies(trajectory_planner_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(trajectory_planner_ros
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base_local_planner)
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add_executable(point_grid src/point_grid_node.cpp)
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add_dependencies(point_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(point_grid ${catkin_LIBRARIES} base_local_planner)
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install(TARGETS
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base_local_planner
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trajectory_planner_ros
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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(FILES blp_plugin.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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PATTERN ".svn" EXCLUDE
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)
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest)
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catkin_add_gtest(base_local_planner_utest
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test/gtest_main.cpp
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test/utest.cpp
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test/velocity_iterator_test.cpp
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test/footprint_helper_test.cpp
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test/trajectory_generator_test.cpp
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test/map_grid_test.cpp)
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target_link_libraries(base_local_planner_utest
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base_local_planner trajectory_planner_ros
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)
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catkin_add_gtest(line_iterator
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test/line_iterator_test.cpp)
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endif()
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