87 lines
1.7 KiB
CMake
Executable File
87 lines
1.7 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(move_base)
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find_package(catkin REQUIRED COMPONENTS
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actionlib
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base_local_planner
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clear_costmap_recovery
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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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move_base_msgs
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nav_core
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nav_msgs
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navfn
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pluginlib
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roscpp
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rospy
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rotate_recovery
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std_srvs
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tf2_geometry_msgs
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tf2_ros
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)
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find_package(Eigen3 REQUIRED)
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add_definitions(${EIGEN3_DEFINITIONS})
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# dynamic reconfigure
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generate_dynamic_reconfigure_options(
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cfg/MoveBase.cfg
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)
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catkin_package(
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INCLUDE_DIRS
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include
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${EIGEN3_INCLUDE_DIRS}
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LIBRARIES move_base
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CATKIN_DEPENDS
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dynamic_reconfigure
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geometry_msgs
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move_base_msgs
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nav_msgs
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roscpp
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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)
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# move_base
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add_library(move_base
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src/move_base.cpp
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)
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target_link_libraries(move_base
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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)
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add_dependencies(move_base ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(move_base_node
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src/move_base_node.cpp
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)
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add_dependencies(move_base_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(move_base_node move_base)
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set_target_properties(move_base_node PROPERTIES OUTPUT_NAME move_base)
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install(
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TARGETS
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move_base_node
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(
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TARGETS
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move_base
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DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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