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@ -29,24 +29,6 @@ endif()
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# ========================================================
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# ========================================================
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find_package(Boost REQUIRED)
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find_package(Boost REQUIRED)
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# If building with Catkin, use catkin_package to find dependencies
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if(BUILDING_WITH_CATKIN)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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geometry_msgs
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nav_msgs
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tf2
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tf2_ros
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actionlib
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dynamic_reconfigure
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)
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# Find internal packages (these should be built in the same workspace)
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# Catkin will handle these through workspace dependencies
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find_package(yaml-cpp REQUIRED)
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endif()
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# ========================================================
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# ========================================================
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# Source Files
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# Source Files
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@ -61,11 +43,6 @@ include_directories(
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${PROJECT_SOURCE_DIR}/include
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${PROJECT_SOURCE_DIR}/include
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)
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)
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if(BUILDING_WITH_CATKIN)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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endif()
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# ========================================================
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# ========================================================
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# RPATH settings: ưu tiên thư viện build tại chỗ
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# RPATH settings: ưu tiên thư viện build tại chỗ
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@ -84,84 +61,36 @@ add_library(move_base SHARED ${SOURCES} ${HEADERS})
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# ========================================================
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# ========================================================
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# Dependencies and Link Libraries
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# Dependencies and Link Libraries
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# ========================================================
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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# Catkin mode: use catkin dependencies
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# Standalone CMake mode: link all dependencies manually
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catkin_package(
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set(PACKAGES_DIR
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INCLUDE_DIRS include
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geometry_msgs
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LIBRARIES move_base
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std_msgs
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CATKIN_DEPENDS
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move_base_core
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roscpp
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nav_core
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rospy
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costmap_2d
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std_msgs
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plugins # Link với plugins library để có StaticLayer typeinfo
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geometry_msgs
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yaml-cpp
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nav_msgs
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xmlrpcpp
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tf2
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tf3_sensor_msgs
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tf2_ros
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tf3_geometry_msgs
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actionlib
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data_convert
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dynamic_reconfigure
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dl
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DEPENDS
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pthread
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yaml-cpp
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robot_nav_2d_utils
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Boost
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)
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)
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target_link_libraries(move_base
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# Link against catkin packages
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PUBLIC ${PACKAGES_DIR}
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target_link_libraries(move_base
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PUBLIC robot_cpp
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${catkin_LIBRARIES}
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PRIVATE Boost::boost
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${Boost_LIBRARIES}
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)
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yaml-cpp
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)
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# Set RPATH để ưu tiên thư viện build cục bộ
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set_target_properties(move_base PROPERTIES
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# Internal packages (assumed to be in same workspace)
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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# These will be linked via catkin workspace dependencies
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)
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target_link_libraries(move_base
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move_base_core
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nav_core
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costmap_2d
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plugins # Link với plugins library để có StaticLayer typeinfo
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xmlrpcpp
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robot_cpp
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tf3_sensor_msgs
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tf3_geometry_msgs
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dl
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pthread
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)
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# Set RPATH để ưu tiên thư viện build cục bộ
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set_target_properties(move_base PROPERTIES
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BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp"
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INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp"
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LINK_FLAGS "-Wl,--disable-new-dtags"
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)
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else()
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# Standalone CMake mode: link all dependencies manually
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set(PACKAGES_DIR
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geometry_msgs
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std_msgs
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move_base_core
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nav_core
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costmap_2d
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plugins # Link với plugins library để có StaticLayer typeinfo
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yaml-cpp
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xmlrpcpp
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tf3_sensor_msgs
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tf3_geometry_msgs
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data_convert
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dl
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pthread
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robot_nav_2d_utils
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)
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target_link_libraries(move_base
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PUBLIC ${PACKAGES_DIR}
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PUBLIC robot_cpp
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PRIVATE Boost::boost
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)
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# Set RPATH để ưu tiên thư viện build cục bộ
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set_target_properties(move_base PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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endif()
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# ========================================================
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# ========================================================
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# Include Directories for Target
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# Include Directories for Target
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@ -187,12 +116,6 @@ target_link_libraries(move_base_main
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PRIVATE Boost::boost
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PRIVATE Boost::boost
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)
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)
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if(BUILDING_WITH_CATKIN)
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target_link_libraries(move_base_main
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PRIVATE ${catkin_LIBRARIES}
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)
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endif()
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# Set RPATH for executable to find libraries in build directory first
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# Set RPATH for executable to find libraries in build directory first
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# Use RPATH instead of RUNPATH for higher priority
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# Use RPATH instead of RUNPATH for higher priority
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set_target_properties(move_base_main PROPERTIES
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set_target_properties(move_base_main PROPERTIES
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@ -208,37 +131,25 @@ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--disable-new-dtags")
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# ========================================================
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# ========================================================
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# Installation
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# Installation
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# ========================================================
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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# Catkin installation
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# Standalone CMake installation
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install(DIRECTORY include/move_base
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install(DIRECTORY include/move_base
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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FILES_MATCHING PATTERN "*.h"
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)
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)
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install(TARGETS move_base move_base_main
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install(TARGETS move_base move_base_main
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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EXPORT move_base-targets
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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ARCHIVE DESTINATION lib
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)
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RUNTIME DESTINATION bin
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else()
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)
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# Standalone CMake installation
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install(DIRECTORY include/move_base
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install(EXPORT move_base-targets
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DESTINATION include
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FILE move_base-targets.cmake
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FILES_MATCHING PATTERN "*.h"
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DESTINATION lib/cmake/move_base
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)
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)
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install(TARGETS move_base move_base_main
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EXPORT move_base-targets
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(EXPORT move_base-targets
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FILE move_base-targets.cmake
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DESTINATION lib/cmake/move_base
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)
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endif()
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# ========================================================
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# ========================================================
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# Build Options
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# Build Options
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