81 lines
2.6 KiB
CMake
Executable File
81 lines
2.6 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(dwb_local_planner)
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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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dwb_msgs
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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_msgs
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pluginlib
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roscpp
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sensor_msgs
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tf
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visualization_msgs
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES dwb_local_planner debug_dwb_local_planner trajectory_utils
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CATKIN_DEPENDS
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dwb_msgs geometry_msgs nav_2d_msgs nav_2d_utils nav_core2
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nav_msgs pluginlib roscpp sensor_msgs tf visualization_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(dwb_local_planner src/dwb_local_planner.cpp
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src/backwards_compatibility.cpp
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src/publisher.cpp
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src/illegal_trajectory_tracker.cpp
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)
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target_link_libraries(dwb_local_planner ${catkin_LIBRARIES})
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add_dependencies(dwb_local_planner ${catkin_EXPORTED_TARGETS})
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add_library(debug_dwb_local_planner src/debug_dwb_local_planner.cpp)
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target_link_libraries(debug_dwb_local_planner ${catkin_LIBRARIES} dwb_local_planner)
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add_dependencies(debug_dwb_local_planner ${catkin_EXPORTED_TARGETS})
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add_library(trajectory_utils src/trajectory_utils.cpp)
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target_link_libraries(trajectory_utils ${catkin_LIBRARIES})
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add_executable(${PROJECT_NAME}_planner_node src/planner_node.cpp)
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target_link_libraries(${PROJECT_NAME}_planner_node ${catkin_LIBRARIES} debug_dwb_local_planner)
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add_dependencies(${PROJECT_NAME}_planner_node ${catkin_EXPORTED_TARGETS})
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set_target_properties(${PROJECT_NAME}_planner_node PROPERTIES OUTPUT_NAME planner_node PREFIX "")
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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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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catkin_add_gtest(utils_test test/utils_test.cpp)
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target_link_libraries(utils_test trajectory_utils)
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endif()
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install(TARGETS ${PROJECT_NAME}_planner_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(TARGETS dwb_local_planner debug_dwb_local_planner trajectory_utils
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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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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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FILES_MATCHING PATTERN "*.launch"
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)
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