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HiepLM:3.0
..
compare: HiepLM:ca9e100bd91c94975480244be32e6ee0a3fd0f92
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HiepLM:3.0

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218
src/Algorithms/Cores/score_algorithm/CMakeLists.txt
View File

@ -1,48 +1,29 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.10)
# Tên dự án
project(score_algorithm VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# ========================================================
# Find Packages
# ========================================================
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building score_algorithm with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building score_algorithm with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(Boost REQUIRED COMPONENTS filesystem system)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
robot_nav_2d_msgs
robot_nav_2d_utils
robot_nav_core2
robot_nav_core
robot_cpp
mkt_msgs
angles
)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
robot_nav_2d_msgs
robot_nav_2d_utils
@ -52,107 +33,124 @@ else()
mkt_msgs
angles
)
endif()
## System dependencies
find_package(Boost REQUIRED COMPONENTS filesystem system)
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
## The catkin_package macro generates cmake config files for your package
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS robot_nav_2d_msgs robot_nav_2d_utils robot_nav_core robot_nav_core2 robot_cpp mkt_msgs angles
DEPENDS Boost
LIBRARIES score_algorithm
CATKIN_DEPENDS robot_nav_2d_msgs robot_nav_2d_utils robot_nav_core robot_nav_core2 robot_cpp mkt_msgs
)
endif()
# Thư mục include
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
endif()
# Libraries
add_library(${PROJECT_NAME} SHARED
src/score_algorithm.cpp
${PROJECT_SOURCE_DIR}/include
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
include_directories(${catkin_INCLUDE_DIRS})
endif()
# ========================================================
# Build
# ========================================================
target_include_directories(${PROJECT_NAME}
# Tạo thư viện shared (.so)
add_library(score_algorithm src/score_algorithm.cpp)
# Link libraries
if(BUILDING_WITH_CATKIN)
target_link_libraries(score_algorithm
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::filesystem Boost::system
)
else()
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
PUBLIC
${PACKAGES_DIR}
${catkin_LIBRARIES}
PRIVATE
Boost::filesystem Boost::system
Boost::filesystem
Boost::system
)
set_target_properties(${PROJECT_NAME} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
else()
# Standalone mode: link dependencies directly
target_link_libraries(score_algorithm
PUBLIC
robot_nav_2d_msgs
robot_nav_2d_utils
robot_nav_core2
robot_nav_core2
robot_cpp
mkt_msgs
angles
PRIVATE
Boost::filesystem
Boost::system
)
endif()
set_target_properties(score_algorithm PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
## Add cmake target dependencies
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
add_dependencies(score_algorithm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
target_include_directories(score_algorithm PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
else()
# ========================================================
# Installation
# ========================================================
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
install(TARGETS score_algorithm
EXPORT score_algorithm-targets
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
if(NOT BUILDING_WITH_CATKIN)
# Cài đặt header files (chỉ cho standalone mode)
install(DIRECTORY include/score_algorithm
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
FILES_MATCHING PATTERN "*.h")
# Print configuration info
# Export targets (chỉ cho standalone mode)
install(EXPORT score_algorithm-targets
FILE score_algorithm-targets.cmake
DESTINATION lib/cmake/score_algorithm)
else()
# Khi build với Catkin, vẫn cần export để các target khác có thể export
install(EXPORT score_algorithm-targets
FILE score_algorithm-targets.cmake
DESTINATION lib/cmake/score_algorithm)
endif()
# Tùy chọn build
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_TESTS "Build test programs" OFF)
# Flags biên dịch
# Warning flags - disabled to suppress warnings during build
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Dependencies: robot_nav_2d_msgs, robot_nav_2d_utils, robot_nav_core, robot_nav_core2, robot_cpp, mkt_msgs, angles, Boost")
message(STATUS "Headers found:")
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "=================================")
endif()

127
src/Algorithms/Libraries/angles/CMakeLists.txt
View File

@ -1,129 +1,70 @@
cmake_minimum_required(VERSION 3.0.2)
project(angles VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building angles with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building angles with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
project(angles VERSION 1.0.0 LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
else()
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED)
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
)
include_directories(
include
${catkin_INCLUDE_DIRS}
# Header-only library; keep LIBRARIES for visibility when exporting
LIBRARIES angles
)
endif()
# Tìm tất cả header files
file(GLOB_RECURSE HEADERS "include/angles/*.h")
# Tạo INTERFACE library (header-only)
add_library(${PROJECT_NAME} INTERFACE)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# Create interface library (header-only)
add_library(angles INTERFACE)
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${catkin_LIBRARIES}
)
else()
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
target_include_directories(angles INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
if(BUILDING_WITH_CATKIN)
add_dependencies(angles ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# ========================================================
# Installation
# ========================================================
install(TARGETS angles
EXPORT angles-targets
INCLUDES DESTINATION include
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
if(NOT BUILDING_WITH_CATKIN)
# Install headers (standalone)
install(DIRECTORY include/angles
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
endif()
# Export targets
install(EXPORT angles-targets
FILE angles-targets.cmake
DESTINATION lib/cmake/angles
)
# Print configuration info
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Headers found:")
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "Dependencies: None")
message(STATUS "=================================")
endif()

249
src/Algorithms/Libraries/kalman/CMakeLists.txt
View File

@ -1,181 +1,142 @@
cmake_minimum_required(VERSION 3.0.2)
project(kalman VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building kalman with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building kalman with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
project(kalman VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(Eigen3 REQUIRED)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
else()
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
DEPENDS Eigen3
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# ========================================================
# Libraries
# Find dependencies
# ========================================================
add_library(${PROJECT_NAME} SHARED
src/kalman.cpp
find_package(Eigen3 REQUIRED)
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES kalman
DEPENDS Eigen3
)
endif()
# Thư mục include
include_directories(
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIRS}
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
PUBLIC ${catkin_LIBRARIES}
PRIVATE Eigen3::Eigen
)
else()
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
PUBLIC
Eigen3::Eigen
)
set_target_properties(${PROJECT_NAME} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
include_directories(${catkin_INCLUDE_DIRS})
endif()
# ========================================================
# Test executable
# ========================================================
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/src/kalman-test.cpp)
add_executable(${PROJECT_NAME}_node src/kalman-test.cpp)
# Tìm tất cả file source
file(GLOB SOURCES "src/kalman.cpp")
file(GLOB HEADERS "include/kalman/kalman.h")
target_link_libraries(${PROJECT_NAME}_node PRIVATE
${PROJECT_NAME}
# Tạo thư viện shared (.so)
add_library(kalman SHARED ${SOURCES} ${HEADERS})
# Link libraries
target_link_libraries(kalman
PUBLIC
Eigen3::Eigen
$<$<BOOL:${BUILDING_WITH_CATKIN}>:${catkin_LIBRARIES}>
)
set_target_properties(kalman PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
# Set include directories
target_include_directories(kalman
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${EIGEN3_INCLUDE_DIRS}
)
if(BUILDING_WITH_CATKIN)
add_dependencies(kalman ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
# Tạo executable cho test
add_executable(kalman_node src/kalman-test.cpp)
target_link_libraries(kalman_node
PRIVATE
kalman
Eigen3::Eigen
)
set_target_properties(kalman_node PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
# ========================================================
# Installation
# ========================================================
# Cài đặt library
install(TARGETS kalman
EXPORT kalman-targets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
# Cài đặt executable (optional)
install(TARGETS kalman_node
RUNTIME DESTINATION bin
)
if(NOT BUILDING_WITH_CATKIN)
# Configure RPATH to find libraries in devel space
set_target_properties(${PROJECT_NAME}_node PROPERTIES
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH TRUE
BUILD_RPATH "${CMAKE_BINARY_DIR}"
)
endif()
endif()
# ========================================================
# Install
# ========================================================
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Install test executable if it exists
if(TARGET ${PROJECT_NAME}_node)
install(TARGETS ${PROJECT_NAME}_node
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
endif()
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
# Cài đặt header files (standalone)
install(DIRECTORY include/kalman
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Install test executable if it exists
if(TARGET ${PROJECT_NAME}_node)
install(TARGETS ${PROJECT_NAME}_node
RUNTIME DESTINATION bin
)
endif()
# Print configuration info
# Export targets
install(EXPORT kalman-targets
FILE kalman-targets.cmake
DESTINATION lib/cmake/kalman
)
# Tùy chọn build
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_TESTS "Build test programs" OFF)
# Flags biên dịch
# Warning flags - disabled to suppress warnings during build
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Libraries: ${PROJECT_NAME}")
if(TARGET ${PROJECT_NAME}_node)
message(STATUS "Executables: ${PROJECT_NAME}_node")
endif()
message(STATUS "Dependencies: Eigen3")
message(STATUS "Eigen3 found: ${EIGEN3_FOUND}")
message(STATUS "Eigen3 include dir: ${EIGEN3_INCLUDE_DIRS}")
message(STATUS "=================================")
endif()

229
src/Algorithms/Libraries/mkt_algorithm/CMakeLists.txt
View File

@ -1,53 +1,36 @@
cmake_minimum_required(VERSION 3.0.2)
project(mkt_algorithm VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building mkt_algorithm with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building mkt_algorithm with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
project(mkt_algorithm VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# ========================================================
# Find dependencies
# ========================================================
find_package(Boost REQUIRED COMPONENTS system)
find_package(Eigen3 REQUIRED)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
geometry_msgs
score_algorithm
robot_nav_2d_msgs
robot_nav_2d_utils
kalman
angles
nav_grid
robot_costmap_2d
robot_sensor_msgs
robot_std_msgs
robot_cpp
)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
score_algorithm
@ -61,130 +44,128 @@ else()
robot_std_msgs
robot_cpp
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}_diff
CATKIN_DEPENDS geometry_msgs score_algorithm robot_nav_2d_msgs robot_nav_2d_utils kalman angles nav_grid robot_costmap_2d robot_sensor_msgs robot_std_msgs robot_cpp
DEPENDS Boost Eigen3
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
endif()
# ========================================================
# Libraries
# ========================================================
add_library(${PROJECT_NAME}_diff SHARED
src/diff/diff_predictive_trajectory.cpp
src/diff/diff_rotate_to_goal.cpp
src/diff/diff_go_straight.cpp
# Thư mục include
include_directories(
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIRS}
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME}_diff ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
include_directories(${catkin_INCLUDE_DIRS})
endif()
target_include_directories(${PROJECT_NAME}_diff
# Dependencies packages
set(PACKAGES_DIR
geometry_msgs
score_algorithm
robot_nav_2d_msgs
robot_nav_2d_utils
kalman
angles
nav_grid
robot_costmap_2d
robot_sensor_msgs
robot_std_msgs
)
# Tìm tất cả file source cho diff library
file(GLOB DIFF_SOURCES
"src/diff/diff_predictive_trajectory.cpp"
"src/diff/diff_rotate_to_goal.cpp"
"src/diff/diff_go_straight.cpp"
)
file(GLOB DIFF_HEADERS
"include/mkt_algorithm/diff/*.h"
)
# Tạo thư viện shared cho diff
add_library(mkt_algorithm_diff SHARED ${DIFF_SOURCES} ${DIFF_HEADERS})
# Link libraries
if(BUILDING_WITH_CATKIN)
target_link_libraries(mkt_algorithm_diff
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${catkin_LIBRARIES}
Boost::system
Eigen3::Eigen
)
target_link_libraries(${PROJECT_NAME}_diff
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::system Eigen3::Eigen
)
else()
target_include_directories(${PROJECT_NAME}_diff
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_diff
target_link_libraries(mkt_algorithm_diff
PUBLIC
${PACKAGES_DIR}
PRIVATE
Boost::system Eigen3::Eigen
robot_cpp
Boost::system
Eigen3::Eigen
)
set_target_properties(${PROJECT_NAME}_diff PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
endif()
# ========================================================
# Install
# ========================================================
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}_diff
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Install plugins.xml if it exists
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/plugins.xml)
install(FILES plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
add_dependencies(mkt_algorithm_diff ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
else()
set_target_properties(mkt_algorithm_diff PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
install(TARGETS ${PROJECT_NAME}_diff
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
# Set include directories
target_include_directories(mkt_algorithm_diff
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${EIGEN3_INCLUDE_DIRS}
)
# ========================================================
# Installation
# ========================================================
# Cài đặt library
install(TARGETS mkt_algorithm_diff
EXPORT mkt_algorithm-targets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
if(NOT BUILDING_WITH_CATKIN)
# Cài đặt header files (standalone)
install(DIRECTORY include/mkt_algorithm
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
endif()
## Install plugins.xml if it exists
# Cài đặt plugins.xml (nếu cần cho pluginlib)
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/plugins.xml)
install(FILES plugins.xml
DESTINATION share/${PROJECT_NAME}
)
endif()
# Print configuration info
# Export targets
install(EXPORT mkt_algorithm-targets
FILE mkt_algorithm-targets.cmake
DESTINATION lib/cmake/mkt_algorithm
)
# Tùy chọn build
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_TESTS "Build test programs" OFF)
# Flags biên dịch
# Warning flags - disabled to suppress warnings during build
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Libraries: ${PROJECT_NAME}_diff")
message(STATUS "Dependencies: geometry_msgs, score_algorithm, robot_nav_2d_msgs, robot_nav_2d_utils, kalman, angles, nav_grid, robot_costmap_2d, robot_sensor_msgs, robot_std_msgs, robot_cpp, Boost, Eigen3")
message(STATUS "Eigen3 found: ${EIGEN3_FOUND}")
message(STATUS "=================================")
endif()

159
src/Algorithms/Libraries/mkt_msgs/CMakeLists.txt
View File

@ -1,136 +1,97 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.10)
# Tên dự án
project(mkt_msgs VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# ========================================================
# Find Packages
# ========================================================
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building mkt_msgs with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building mkt_msgs with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
robot_nav_2d_msgs
geometry_msgs
)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
robot_nav_2d_msgs
geometry_msgs
)
endif()
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
CATKIN_DEPENDS robot_nav_2d_msgs geometry_msgs
# Cho phép các project khác include được header của mkt_msgs
set(mkt_msgs_INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/include
PARENT_SCOPE
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/include
)
if(BUILDING_WITH_CATKIN)
include_directories(${catkin_INCLUDE_DIRS})
endif()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
## The catkin_package macro generates cmake config files for your package
catkin_package(
INCLUDE_DIRS include
# Header-only library so LIBRARIES is optional; keep for visibility
LIBRARIES mkt_msgs
CATKIN_DEPENDS robot_nav_2d_msgs geometry_msgs
)
endif()
# Tìm tất cả header files
file(GLOB_RECURSE HEADERS "include/mkt_msgs/*.h")
# Tạo INTERFACE library (header-only)
add_library(${PROJECT_NAME} INTERFACE)
# ========================================================
# Build (header-only INTERFACE)
# ========================================================
add_library(mkt_msgs INTERFACE)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(mkt_msgs INTERFACE ${catkin_LIBRARIES})
add_dependencies(mkt_msgs ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
else()
target_link_libraries(mkt_msgs INTERFACE robot_nav_2d_msgs geometry_msgs)
endif()
# Set include directories
target_include_directories(${PROJECT_NAME}
target_include_directories(mkt_msgs
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${catkin_LIBRARIES}
)
# ========================================================
# Installation
# ========================================================
else()
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
)
endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
install(TARGETS mkt_msgs
EXPORT mkt_msgs-targets
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
# Cài đặt header files (cả catkin và standalone)
install(DIRECTORY include/mkt_msgs
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
FILES_MATCHING PATTERN "*.h")
# Print configuration info
# Export targets (cho cả hai chế độ)
install(EXPORT mkt_msgs-targets
FILE mkt_msgs-targets.cmake
DESTINATION lib/cmake/mkt_msgs)
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
message(STATUS "Version: ${PROJECT_VERSION}")
@ -139,6 +100,4 @@ else()
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "Dependencies: robot_nav_2d_msgs, geometry_msgs")
message(STATUS "=================================")
endif()

260
src/Algorithms/Libraries/mkt_plugins/CMakeLists.txt
View File

@ -1,33 +1,80 @@
cmake_minimum_required(VERSION 3.0.2)
project(mkt_plugins VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building mkt_plugins with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building mkt_plugins with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
project(mkt_plugins VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(Boost REQUIRED COMPONENTS system)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
# Build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# ========================================================
# Find dependencies
# ========================================================
# Find system dependencies
find_package(Boost REQUIRED COMPONENTS system)
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
score_algorithm
robot_nav_2d_msgs
robot_nav_2d_utils
robot_nav_core2
geometry_msgs
robot_nav_msgs
robot_std_msgs
robot_sensor_msgs
angles
)
endif()
# Flags biên dịch
# Warning flags - disabled to suppress warnings during build
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
catkin_package(
INCLUDE_DIRS include
LIBRARIES mkt_plugins_goal_checker mkt_plugins_standard_traj_generator
CATKIN_DEPENDS score_algorithm robot_nav_2d_msgs robot_nav_2d_utils robot_nav_core2 geometry_msgs robot_nav_msgs robot_std_msgs robot_sensor_msgs angles
)
endif()
# Thư mục include
include_directories(
${PROJECT_SOURCE_DIR}/include
)
if(BUILDING_WITH_CATKIN)
include_directories(${catkin_INCLUDE_DIRS})
endif()
# Dependencies packages (internal libraries)
set(PACKAGES_DIR
score_algorithm
robot_nav_2d_msgs
@ -40,46 +87,41 @@ if (NOT BUILDING_WITH_CATKIN)
angles
)
else()
###########
## Build ##
###########
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED COMPONENTS
score_algorithm
robot_nav_2d_msgs
robot_nav_2d_utils
robot_nav_core2
geometry_msgs
robot_nav_msgs
robot_std_msgs
robot_sensor_msgs
angles
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}_goal_checker ${PROJECT_NAME}_standard_traj_generator
CATKIN_DEPENDS score_algorithm robot_nav_2d_msgs robot_nav_2d_utils robot_nav_core2 geometry_msgs robot_nav_msgs robot_std_msgs robot_sensor_msgs angles
DEPENDS Boost
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
endif()
# ========================================================
# Libraries
# ========================================================
# Library 1: goal_checker
add_library(${PROJECT_NAME}_goal_checker SHARED
src/goal_checker.cpp
src/simple_goal_checker.cpp
src/equation_line.cpp
)
# Link libraries
if(BUILDING_WITH_CATKIN)
target_link_libraries(${PROJECT_NAME}_goal_checker
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::boost
)
else()
target_link_libraries(${PROJECT_NAME}_goal_checker
PUBLIC ${PACKAGES_DIR}
PRIVATE Boost::boost
)
endif()
set_target_properties(${PROJECT_NAME}_goal_checker PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
target_include_directories(${PROJECT_NAME}_goal_checker
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Library 3: standard_traj_generator
add_library(${PROJECT_NAME}_standard_traj_generator SHARED
src/kinematic_parameters.cpp
src/xy_theta_iterator.cpp
@ -88,121 +130,69 @@ add_library(${PROJECT_NAME}_standard_traj_generator SHARED
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME}_goal_checker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_standard_traj_generator ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_include_directories(${PROJECT_NAME}_goal_checker
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_include_directories(${PROJECT_NAME}_standard_traj_generator
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_goal_checker
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::system
)
target_link_libraries(${PROJECT_NAME}_standard_traj_generator
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::system
PRIVATE Boost::boost
)
else()
target_include_directories(${PROJECT_NAME}_goal_checker
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_include_directories(${PROJECT_NAME}_standard_traj_generator
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_goal_checker
PUBLIC
${PACKAGES_DIR}
PRIVATE
Boost::system
)
target_link_libraries(${PROJECT_NAME}_standard_traj_generator
PUBLIC
${PACKAGES_DIR}
PRIVATE
Boost::system
)
set_target_properties(${PROJECT_NAME}_goal_checker PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
PUBLIC ${PACKAGES_DIR}
PRIVATE Boost::boost
)
endif()
set_target_properties(${PROJECT_NAME}_standard_traj_generator PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
target_include_directories(${PROJECT_NAME}_standard_traj_generator
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME}_goal_checker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_standard_traj_generator ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
# ========================================================
# Install
# ========================================================
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}_goal_checker ${PROJECT_NAME}_standard_traj_generator
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
#############
## Install ##
#############
# Cài đặt libraries
install(TARGETS
${PROJECT_NAME}_standard_traj_generator
${PROJECT_NAME}_goal_checker
EXPORT ${PROJECT_NAME}-targets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
## Mark cpp header files for installation
if(NOT BUILDING_WITH_CATKIN)
# Cài đặt header files (standalone)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
DESTINATION include/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}_goal_checker ${PROJECT_NAME}_standard_traj_generator
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
endif()
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Tùy chọn build
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_TESTS "Build test programs" OFF)
# Print configuration info
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Libraries: ${PROJECT_NAME}_goal_checker, ${PROJECT_NAME}_standard_traj_generator")
message(STATUS "Dependencies: score_algorithm, robot_nav_2d_msgs, robot_nav_2d_utils, robot_nav_core2, geometry_msgs, robot_nav_msgs, robot_std_msgs, robot_sensor_msgs, angles, Boost")
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
message(STATUS "=================================")
endif()

2
src/Algorithms/Packages/global_planners/custom_planner

@ -1 +1 @@
Subproject commit 540d79321b53ef36a4979f15c6e36b759c134e07
Subproject commit 0b01c22019b66c905d6d67611d333742e1e37a55

2
src/Algorithms/Packages/global_planners/dock_planner

@ -1 +1 @@
Subproject commit c4ae3961ab21c5a2fc48bdcfa9007369fa2efe4c
Subproject commit 22aa83fe5a66f5c090bcb8c1fafb41cfe777ebc1

209
src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt
View File

@ -1,165 +1,166 @@
cmake_minimum_required(VERSION 3.0.2)
project(two_points_planner VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building two_points_planner with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building two_points_planner with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
# Tên dự án
project(two_points_planner VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(Boost REQUIRED COMPONENTS filesystem system)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
# Build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
set(PACKAGES_DIR
# ========================================================
# Find dependencies
# ========================================================
# Find system dependencies
find_package(Boost REQUIRED COMPONENTS filesystem system)
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
robot_costmap_2d
robot_nav_core
robot_geometry_msgs
geometry_msgs
robot_nav_msgs
robot_std_msgs
tf3
robot_tf3_geometry_msgs
robot_time
robot_cpp
)
else()
endif()
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED COMPONENTS
robot_costmap_2d
robot_nav_core
robot_geometry_msgs
robot_nav_msgs
tf3
robot_tf3_geometry_msgs
robot_time
robot_cpp
)
if(BUILDING_WITH_CATKIN)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS robot_costmap_2d robot_nav_core robot_geometry_msgs robot_nav_msgs tf3 robot_tf3_geometry_msgs robot_time robot_cpp
DEPENDS Boost
LIBRARIES two_points_planner
CATKIN_DEPENDS robot_costmap_2d robot_nav_core geometry_msgs robot_nav_msgs robot_std_msgs tf3 robot_tf3_geometry_msgs robot_cpp
)
endif()
# Thư mục include
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
endif()
# ========================================================
# Libraries
# ========================================================
add_library(${PROJECT_NAME} SHARED
src/two_points_planner.cpp
${PROJECT_SOURCE_DIR}/include
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
include_directories(${catkin_INCLUDE_DIRS})
endif()
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
# Tìm tất cả file source
file(GLOB SOURCES "src/two_points_planner.cpp")
file(GLOB HEADERS "include/two_points_planner/*.h")
# Dependencies packages (internal libraries)
set(PACKAGES_DIR
robot_costmap_2d
robot_nav_core
geometry_msgs
robot_nav_msgs
robot_std_msgs
tf3
robot_tf3_geometry_msgs
)
target_link_libraries(${PROJECT_NAME}
# Tạo thư viện shared (.so)
add_library(two_points_planner SHARED ${SOURCES} ${HEADERS})
# Link libraries
if(BUILDING_WITH_CATKIN)
target_link_libraries(two_points_planner
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::filesystem Boost::system
PRIVATE Boost::filesystem
PRIVATE Boost::system
)
else()
target_link_libraries(two_points_planner
PUBLIC ${PACKAGES_DIR}
PUBLIC robot_cpp
PRIVATE Boost::boost
)
endif()
if(BUILDING_WITH_CATKIN)
add_dependencies(two_points_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
set_target_properties(two_points_planner PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
else()
target_include_directories(${PROJECT_NAME}
# Set include directories
target_include_directories(two_points_planner
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
PUBLIC
${PACKAGES_DIR}
PRIVATE
Boost::filesystem Boost::system
)
set_target_properties(${PROJECT_NAME} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
endif()
# ========================================================
# Install
# Installation
# ========================================================
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
# Cài đặt library
install(TARGETS two_points_planner
EXPORT two_points_planner-targets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
if(NOT BUILDING_WITH_CATKIN)
# Cài đặt header files (standalone)
install(DIRECTORY include/two_points_planner
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
endif()
# Print configuration info
# Export targets
install(EXPORT two_points_planner-targets
FILE two_points_planner-targets.cmake
DESTINATION lib/cmake/two_points_planner
)
# Tùy chọn build
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_TESTS "Build test programs" OFF)
# Flags biên dịch
# Warning flags - disabled to suppress warnings during build
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Project: two_points_planner")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Dependencies: robot_costmap_2d, robot_nav_core, robot_geometry_msgs, robot_nav_msgs, tf3, robot_tf3_geometry_msgs, robot_time, robot_cpp, Boost")
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
message(STATUS "Headers found:")
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "=================================")
endif()

10
src/Algorithms/Packages/global_planners/two_points_planner/package.xml
View File

@ -25,21 +25,21 @@
<build_depend>robot_nav_core</build_depend>
<run_depend>robot_nav_core</run_depend>
<build_depend>robot_geometry_msgs</build_depend>
<run_depend>robot_geometry_msgs</run_depend>
<build_depend>geometry_msgs</build_depend>
<run_depend>geometry_msgs</run_depend>
<build_depend>robot_nav_msgs</build_depend>
<run_depend>robot_nav_msgs</run_depend>
<build_depend>robot_std_msgs</build_depend>
<run_depend>robot_std_msgs</run_depend>
<build_depend>tf3</build_depend>
<run_depend>tf3</run_depend>
<build_depend>robot_tf3_geometry_msgs</build_depend>
<run_depend>robot_tf3_geometry_msgs</run_depend>
<build_depend>robot_time</build_depend>
<run_depend>robot_time</run_depend>
<build_depend>robot_cpp</build_depend>
<run_depend>robot_cpp</run_depend>

255
src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt
View File

@ -1,39 +1,44 @@
cmake_minimum_required(VERSION 3.0.2)
project(pnkx_local_planner VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building pnkx_local_planner with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building pnkx_local_planner with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
project(pnkx_local_planner VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(Boost REQUIRED COMPONENTS system)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
# Build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
set(PACKAGES_DIR
robot_geometry_msgs
# ========================================================
# Find dependencies
# ========================================================
# Find system dependencies
find_package(Boost REQUIRED COMPONENTS system)
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
robot_nav_msgs
robot_std_msgs
robot_sensor_msgs
robot_visualization_msgs
robot_nav_2d_msgs
robot_nav_2d_utils
robot_nav_core2
mkt_msgs
@ -41,22 +46,47 @@ if (NOT BUILDING_WITH_CATKIN)
robot_costmap_2d
tf3
robot_tf3_geometry_msgs
data_convert
robot_tf3_sensor_msgs
robot_cpp
angles
)
endif()
else()
# Flags biên dịch
# Warning flags - disabled to suppress warnings during build
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED COMPONENTS
robot_geometry_msgs
if(BUILDING_WITH_CATKIN)
catkin_package(
INCLUDE_DIRS include
LIBRARIES pnkx_local_planner pnkx_local_planner_utils
CATKIN_DEPENDS geometry_msgs robot_nav_msgs robot_std_msgs robot_sensor_msgs robot_visualization_msgs robot_nav_2d_utils robot_nav_core2 mkt_msgs score_algorithm robot_costmap_2d tf3 robot_tf3_geometry_msgs robot_tf3_sensor_msgs robot_cpp angles
)
endif()
# Thư mục include
include_directories(
${PROJECT_SOURCE_DIR}/include
)
if(BUILDING_WITH_CATKIN)
include_directories(${catkin_INCLUDE_DIRS})
endif()
# Dependencies packages (internal libraries)
set(PACKAGES_DIR
geometry_msgs
robot_nav_msgs
robot_std_msgs
robot_sensor_msgs
robot_visualization_msgs
robot_nav_2d_msgs
robot_nav_2d_utils
robot_nav_core2
mkt_msgs
@ -64,172 +94,125 @@ else()
robot_costmap_2d
tf3
robot_tf3_geometry_msgs
data_convert
robot_tf3_sensor_msgs
robot_cpp
angles
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_utils
CATKIN_DEPENDS robot_geometry_msgs robot_nav_msgs robot_std_msgs robot_visualization_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_nav_core2 mkt_msgs score_algorithm robot_costmap_2d tf3 robot_tf3_geometry_msgs data_convert robot_cpp angles
DEPENDS Boost
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
endif()
# ========================================================
# Libraries
# ========================================================
# Tạo thư viện utils trước
add_library(${PROJECT_NAME}_utils SHARED
src/transforms.cpp
)
# Link libraries cho utils
if(BUILDING_WITH_CATKIN)
target_link_libraries(${PROJECT_NAME}_utils
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::boost
)
else()
target_link_libraries(${PROJECT_NAME}_utils
PUBLIC ${PACKAGES_DIR}
PRIVATE Boost::boost
)
endif()
set_target_properties(${PROJECT_NAME}_utils PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
# Set include directories cho utils
target_include_directories(${PROJECT_NAME}_utils
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Tạo thư viện chính
add_library(${PROJECT_NAME} SHARED
src/pnkx_local_planner.cpp
# src/pnkx_docking_local_planner.cpp
src/pnkx_go_straight_local_planner.cpp
src/pnkx_rotate_local_planner.cpp
)
# Link libraries cho thư viện chính
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME}_utils ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_include_directories(${PROJECT_NAME}_utils
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_utils
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::system
)
target_link_libraries(${PROJECT_NAME}
PUBLIC ${PROJECT_NAME}_utils
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::system
PRIVATE Boost::boost
)
else()
target_include_directories(${PROJECT_NAME}_utils
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_utils
PUBLIC
${PACKAGES_DIR}
PRIVATE
Boost::system
)
target_link_libraries(${PROJECT_NAME}
PUBLIC ${PROJECT_NAME}_utils
PUBLIC
${PACKAGES_DIR}
PRIVATE
Boost::system
)
set_target_properties(${PROJECT_NAME}_utils PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
PUBLIC ${PACKAGES_DIR}
PRIVATE Boost::boost
)
endif()
set_target_properties(${PROJECT_NAME} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
# Set include directories cho thư viện chính
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Compile options
target_compile_options(${PROJECT_NAME} PUBLIC "-Wno-terminate")
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME}_utils ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
# ========================================================
# Install
# ========================================================
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# Tùy chọn build
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_TESTS "Build test programs" OFF)
#############
## Install ##
#############
# Cài đặt libraries
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_utils
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
EXPORT ${PROJECT_NAME}-targets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
## Mark cpp header files for installation
if(NOT BUILDING_WITH_CATKIN)
# Cài đặt header files (standalone)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
DESTINATION include/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Install plugins.xml if it exists
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/plugins.xml)
install(FILES plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
endif()
else()
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_utils
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Install plugins.xml if it exists
# Cài đặt plugins.xml nếu có
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/plugins.xml)
install(FILES plugins.xml
install(FILES
plugins.xml
DESTINATION share/${PROJECT_NAME}
)
endif()
# Print configuration info
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Libraries: ${PROJECT_NAME}, ${PROJECT_NAME}_utils")
message(STATUS "Dependencies: robot_geometry_msgs, robot_nav_msgs, robot_std_msgs, robot_visualization_msgs, robot_nav_2d_msgs, robot_nav_2d_utils, robot_nav_core2, mkt_msgs, score_algorithm, robot_costmap_2d, tf3, robot_tf3_geometry_msgs, data_convert, robot_cpp, angles, Boost")
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
message(STATUS "=================================")
endif()

14
src/Algorithms/Packages/local_planners/pnkx_local_planner/package.xml
View File

@ -19,8 +19,8 @@
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>robot_geometry_msgs</build_depend>
<run_depend>robot_geometry_msgs</run_depend>
<build_depend>geometry_msgs</build_depend>
<run_depend>geometry_msgs</run_depend>
<build_depend>robot_nav_msgs</build_depend>
<run_depend>robot_nav_msgs</run_depend>
@ -28,12 +28,12 @@
<build_depend>robot_std_msgs</build_depend>
<run_depend>robot_std_msgs</run_depend>
<build_depend>robot_sensor_msgs</build_depend>
<run_depend>robot_sensor_msgs</run_depend>
<build_depend>robot_visualization_msgs</build_depend>
<run_depend>robot_visualization_msgs</run_depend>
<build_depend>robot_nav_2d_msgs</build_depend>
<run_depend>robot_nav_2d_msgs</run_depend>
<build_depend>robot_nav_2d_utils</build_depend>
<run_depend>robot_nav_2d_utils</run_depend>
@ -55,8 +55,8 @@
<build_depend>robot_tf3_geometry_msgs</build_depend>
<run_depend>robot_tf3_geometry_msgs</run_depend>
<build_depend>data_convert</build_depend>
<run_depend>data_convert</run_depend>
<build_depend>robot_tf3_sensor_msgs</build_depend>
<run_depend>robot_tf3_sensor_msgs</run_depend>
<build_depend>robot_cpp</build_depend>
<run_depend>robot_cpp</run_depend>

2
src/Libraries/common_msgs

@ -1 +1 @@
Subproject commit b8b0528f1e649b93ff07b3458aa01f251b286405
Subproject commit 1df5ed676fe374c63665d434f4d8b2c9923d41a1

2
src/Libraries/costmap_2d

@ -1 +1 @@
Subproject commit f052dac1421e7e2bedba4088780526a8775b0c29
Subproject commit 80bde38f4d5dbb66bab5a8bd5c2c3faaa870aa9f

2
src/Libraries/data_convert

@ -1 +1 @@
Subproject commit 004dd7f0ffafe6b3d3a1c86e40bc7041b561756c
Subproject commit d7eed928fbfb26d822fd4c4cb7ab84e3cb46866a

2
src/Libraries/geometry2

@ -1 +1 @@
Subproject commit ff90ea2f297258555863a2b6e9cf8442ede3a481
Subproject commit e0db8d0e20142df254de7232ada253c9ba4d0a08

2
src/Libraries/laser_geometry

@ -1 +1 @@
Subproject commit 4fb3fdc28cc8fdd58fa3ab2d60857feb228948be
Subproject commit 7cb758a986f481ee91afb8be7b407b6329dd61b0

221
src/Libraries/robot_cpp/CMakeLists.txt
View File

@ -1,64 +1,40 @@
cmake_minimum_required(VERSION 3.0.2)
project(robot_cpp VERSION 1.0.0 LANGUAGES CXX)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building robot_cpp with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building robot_cpp with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
project(robot_cpp)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(yaml-cpp REQUIRED)
find_package(console_bridge REQUIRED)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
robot_xmlrpcpp
robot_time
)
else()
# ========================================================
# Catkin specific configuration
# Find Packages
# ========================================================
if(BUILDING_WITH_CATKIN)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
robot_xmlrpcpp
robot_time
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS robot_xmlrpcpp robot_time
# Note: yaml-cpp and console_bridge are system dependencies,
# linked via target_link_libraries, not via catkin_package DEPENDS
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
endif()
# Use yaml-cpp target if available (modern CMake)
## System dependencies
# Find yaml-cpp library
find_package(yaml-cpp REQUIRED)
# Use target if available (modern CMake)
if(TARGET yaml-cpp::yaml-cpp)
set(YAML_CPP_TARGET yaml-cpp::yaml-cpp)
message(STATUS "Using yaml-cpp target: yaml-cpp::yaml-cpp")
@ -75,128 +51,106 @@ else()
message(STATUS "Using yaml-cpp library name: yaml-cpp")
endif()
# Compiler flags
find_package(console_bridge REQUIRED)
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
## The catkin_package macro generates cmake config files for your package
## Note: yaml-cpp and console_bridge are system dependencies, not declared in DEPENDS
## as they don't provide the required INCLUDE_DIRS/LIBRARIES variables for catkin
catkin_package(
INCLUDE_DIRS include
LIBRARIES robot_cpp
CATKIN_DEPENDS robot_xmlrpcpp
)
endif()
###########
## Build ##
###########
## Compiler flags
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# Warning flags - disabled to suppress warnings during build
# add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
add_compile_options(-w -fPIC) # -w suppresses all warnings
endif()
# Libraries
## Include directories
include_directories(
include
)
# yaml-cpp and console_bridge are linked via targets, so we don't need to add their include dirs
# if they provide targets (modern CMake), or we handle them via target_link_libraries
if(BUILDING_WITH_CATKIN)
include_directories(${catkin_INCLUDE_DIRS})
endif()
# Create unified robot_cpp library combining console and node_handle
add_library(${PROJECT_NAME} SHARED
src/console.cpp
src/node_handle.cpp
src/plugin_loader_helper.cpp
)
# Enable C++17 filesystem feature
target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link filesystem library if needed (for GCC < 9 or Clang)
set(FILESYSTEM_LIB "")
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")
set(FILESYSTEM_LIB "stdc++fs")
elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
find_library(FILESYSTEM_LIB c++fs)
endif()
target_link_libraries(${PROJECT_NAME}
PUBLIC ${catkin_LIBRARIES}
PRIVATE ${YAML_CPP_TARGET}
PRIVATE dl # Required for dladdr() function used in plugin_loader_helper.cpp
)
if(FILESYSTEM_LIB)
target_link_libraries(${PROJECT_NAME} PRIVATE ${FILESYSTEM_LIB})
endif()
else()
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link filesystem library if needed (for GCC < 9 or Clang)
set(FILESYSTEM_LIB "")
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")
set(FILESYSTEM_LIB "stdc++fs")
elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
find_library(FILESYSTEM_LIB c++fs)
endif()
## Link libraries
# Use the determined yaml-cpp target/library
target_link_libraries(${PROJECT_NAME}
PUBLIC
${PACKAGES_DIR}
${YAML_CPP_TARGET}
robot_xmlrpcpp
robot_time
PRIVATE
dl # Required for dladdr() function used in plugin_loader_helper.cpp
)
if(FILESYSTEM_LIB)
target_link_libraries(${PROJECT_NAME} PRIVATE ${FILESYSTEM_LIB})
## Add cmake target dependencies
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
set_target_properties(${PROJECT_NAME} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
endif()
# Define CMAKE_BINARY_DIR as compile definition so it's available at runtime
target_compile_definitions(${PROJECT_NAME}
PRIVATE
PNKX_NAV_CORE_BUILD_DIR="${CMAKE_BINARY_DIR}"
)
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
# ========================================================
# Installation (Standalone CMake only)
# ========================================================
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
RUNTIME DESTINATION bin)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
if(NOT BUILDING_WITH_CATKIN)
install(DIRECTORY include/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
FILES_MATCHING PATTERN "*.h")
install(EXPORT ${PROJECT_NAME}-targets
# NAMESPACE robot::
DESTINATION lib/cmake/${PROJECT_NAME})
# ========================================================
# Install CMake Config File for find_package()
@ -213,16 +167,29 @@ else()
${CMAKE_CURRENT_BINARY_DIR}/robot_cppConfig.cmake
DESTINATION lib/cmake/${PROJECT_NAME}
)
# Print configuration info
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Dependencies: robot_xmlrpcpp, robot_time, yaml-cpp, console_bridge")
message(STATUS "=================================")
else()
# Khi build với Catkin, vẫn cần export để các target khác có thể export
install(EXPORT ${PROJECT_NAME}-targets
# NAMESPACE robot::
DESTINATION lib/cmake/${PROJECT_NAME})
endif()
# ========================================================
# Install CMake Config File for find_package()
# ========================================================
# Generate config file from template
configure_file(
${CMAKE_CURRENT_SOURCE_DIR}/robot_cppConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/robot_cppConfig.cmake
@ONLY
)
# Install config file
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/robot_cppConfig.cmake
DESTINATION lib/cmake/${PROJECT_NAME}
)
# ========================================================
# Test executable
# ========================================================
@ -240,8 +207,8 @@ if(BUILD_TESTS)
target_link_libraries(test_node_handle
PRIVATE
${PROJECT_NAME}
${YAML_CPP_TARGET}
robot_cpp
yaml-cpp
)
set_target_properties(test_node_handle PROPERTIES

15
src/Libraries/robot_cpp/include/robot/plugin_loader_helper.h
View File

@ -38,15 +38,10 @@ class PluginLoaderHelper
public:
/**
* @brief Constructor
*/
PluginLoaderHelper();
/**
* @brief Constructor
* @param nh NodeHandle to read parameters from
* @param nh NodeHandle to read parameters from (default: root NodeHandle)
* @param config_namespace Namespace in NodeHandle where plugins are stored (default: root)
*/
PluginLoaderHelper(robot::NodeHandle nh, const std::string& config_namespace = "");
PluginLoaderHelper(robot::NodeHandle nh = robot::NodeHandle(), const std::string& config_namespace = "");
/**
* @brief Find library path from symbol name (export name)
@ -81,12 +76,6 @@ public:
*/
static std::string getBuildDirectory();
/**
* @brief Get workspace path at runtime
* @return Workspace path (e.g., /home/robotics/AGV/Diff_Wheel_Prj/t800_v2_ws), or empty if not found
*/
static std::string getWorkspacePath();
private:
/**
* @brief Resolve library path (handle relative paths, search in search_paths)

122
src/Libraries/robot_cpp/src/plugin_loader_helper.cpp
View File

@ -27,25 +27,17 @@
namespace robot
{
PluginLoaderHelper::PluginLoaderHelper()
: PluginLoaderHelper(robot::NodeHandle(), "")
{
// Delegate to the other constructor with default NodeHandle
}
PluginLoaderHelper::PluginLoaderHelper(robot::NodeHandle nh, const std::string& config_namespace)
: nh_(nh), config_namespace_(config_namespace)
{
std::string build_dir = getBuildDirectory();
if (!build_dir.empty()) {
search_paths_.push_back(build_dir);
}
// Thêm các subdirectories thường dùng từ workspace path
std::string workspace_path = getWorkspacePath();
if (!workspace_path.empty()) {
search_paths_.push_back(workspace_path + "/install/lib");
search_paths_.push_back(workspace_path + "/devel/lib");
// Thêm các subdirectories thường dùng
search_paths_.push_back(build_dir + "/src/Algorithms/Packages/global_planners");
search_paths_.push_back(build_dir + "/src/Algorithms/Packages/local_planners");
search_paths_.push_back(build_dir + "/src/Navigations/Cores/robot_nav_core2_adapter");
search_paths_.push_back(build_dir + "/src/Libraries/robot_costmap_2d");
}
}
@ -64,6 +56,7 @@ std::string PluginLoaderHelper::findLibraryPath(const std::string& symbol_name)
} else {
param_path = symbol_name + "/library_path";
}
// Try to read from NodeHandle
std::string library_path;
if (nh_.hasParam(param_path)) {
@ -104,13 +97,12 @@ std::string PluginLoaderHelper::findLibraryPath(const std::string& symbol_name)
std::string ld_path_str(ld_path);
std::stringstream ss(ld_path_str);
std::string path;
while (std::getline(ss, path, ':')) {
if (!path.empty()) {
// Try different naming conventions
std::vector<std::string> possible_names = {
"lib" + library_path + ".so",
library_path + ".so"
"lib" + symbol_name + ".so",
symbol_name + ".so"
};
// Also try without namespace
@ -335,103 +327,5 @@ std::string PluginLoaderHelper::getBuildDirectory()
return "";
}
std::string PluginLoaderHelper::getWorkspacePath()
{
// Method 1: Từ environment variable PNKX_NAV_CORE_DIR
const char* workspace_path = std::getenv("PNKX_NAV_CORE_DIR");
if (workspace_path && std::filesystem::exists(workspace_path)) {
return std::string(workspace_path);
}
// Method 2: Từ environment variable ROS_WORKSPACE hoặc CATKIN_WS
const char* ros_workspace = std::getenv("ROS_WORKSPACE");
if (ros_workspace && std::filesystem::exists(ros_workspace)) {
return std::string(ros_workspace);
}
const char* catkin_ws = std::getenv("CATKIN_WS");
if (catkin_ws && std::filesystem::exists(catkin_ws)) {
return std::string(catkin_ws);
}
// Method 3: Từ build directory (lấy parent directory)
std::string build_dir = getBuildDirectory();
if (!build_dir.empty()) {
std::filesystem::path build_path(build_dir);
std::filesystem::path parent = build_path.parent_path();
// Kiểm tra xem có phải workspace không (có thư mục src/)
if (std::filesystem::exists(parent / "src") && std::filesystem::is_directory(parent / "src")) {
return parent.string();
}
}
// Method 4: Từ executable path và tìm workspace
try {
char exe_path[PATH_MAX];
ssize_t count = readlink("/proc/self/exe", exe_path, PATH_MAX);
if (count != -1) {
exe_path[count] = '\0';
std::filesystem::path exe_dir = std::filesystem::path(exe_path).parent_path();
// Thử các relative paths: ../.., ../../.., etc. để tìm workspace
std::vector<std::filesystem::path> relative_paths = {
exe_dir.parent_path().parent_path(), // ../..
exe_dir.parent_path().parent_path().parent_path(), // ../../..
exe_dir.parent_path().parent_path().parent_path().parent_path() // ../../../..
};
for (const auto& rel_path : relative_paths) {
// Kiểm tra xem có phải workspace không (có thư mục src/ hoặc build/)
if (std::filesystem::exists(rel_path) &&
std::filesystem::is_directory(rel_path) &&
(std::filesystem::exists(rel_path / "src") ||
std::filesystem::exists(rel_path / "build"))) {
try {
return std::filesystem::canonical(rel_path).string();
} catch (...) {
return rel_path.string();
}
}
}
}
} catch (const std::exception&) {
// Ignore errors
}
// Method 5: Từ library path (librobot_cpp.so) và tìm workspace
Dl_info dl_info;
if (dladdr(reinterpret_cast<void*>(&PluginLoaderHelper::getWorkspacePath), &dl_info) != 0) {
if (dl_info.dli_fname) {
std::filesystem::path lib_path(dl_info.dli_fname);
std::filesystem::path lib_dir = lib_path.parent_path();
// Tìm workspace từ library path
std::filesystem::path current = lib_dir;
for (int i = 0; i < 5; ++i) { // Tối đa 5 levels up
if (std::filesystem::exists(current / "src") ||
std::filesystem::exists(current / "build")) {
try {
return std::filesystem::canonical(current).string();
} catch (...) {
return current.string();
}
}
current = current.parent_path();
if (current == current.parent_path()) { // Reached root
break;
}
}
}
}
// Method 6: Hardcoded fallback (nếu các phương pháp trên không hoạt động)
std::string fallback = "/home/robotics/AGV/Diff_Wheel_Prj/t800_v2_ws";
if (std::filesystem::exists(fallback)) {
return fallback;
}
return "";
}
} // namespace robot

129
src/Libraries/robot_nav_2d_msgs/CMakeLists.txt
View File

@ -1,141 +1,98 @@
cmake_minimum_required(VERSION 3.0.2)
project(robot_nav_2d_msgs VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building robot_nav_2d_msgs with Catkin")
find_package(catkin REQUIRED)
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building robot_nav_2d_msgs with Standalone CMake")
endif()
if (NOT BUILDING_WITH_CATKIN)
project(robot_nav_2d_msgs VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
robot_std_msgs
robot_geometry_msgs
)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED COMPONENTS
robot_std_msgs
robot_geometry_msgs
)
if(BUILDING_WITH_CATKIN)
## The catkin_package macro generates cmake config files for your package
## Note: Dependencies (robot_std_msgs, geometry_msgs) are not Catkin packages,
## they are built as CMake targets in the same workspace and will be available
## when this package is built. They are linked via target_link_libraries instead of CATKIN_DEPENDS
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
# CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
endif()
# Tìm tất cả header files
file(GLOB_RECURSE HEADERS "include/robot_nav_2d_msgs/*.h")
# Tạo INTERFACE library (header-only)
add_library(${PROJECT_NAME} INTERFACE)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_library(robot_nav_2d_msgs INTERFACE)
# Set include directories
target_include_directories(${PROJECT_NAME}
target_include_directories(robot_nav_2d_msgs
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
# Các dependencies này cũng là header-only từ common_msgs
target_link_libraries(robot_nav_2d_msgs
INTERFACE
${catkin_LIBRARIES}
robot_std_msgs
geometry_msgs
)
# Add include directories from dependencies explicitly for Catkin build
if(BUILDING_WITH_CATKIN)
# Use relative paths from current source directory
target_include_directories(${PROJECT_NAME} INTERFACE
# From robot_nav_2d_msgs (pnkx_robot_nav_core2/src/Libraries/robot_nav_2d_msgs)
# to robot_std_msgs (pnkx_robot_nav_core2/src/Libraries/common_msgs/robot_std_msgs) is ../common_msgs/robot_std_msgs
get_filename_component(ROBOT_STD_MSGS_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/robot_std_msgs/include" ABSOLUTE)
get_filename_component(GEOMETRY_MSGS_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/robot_geometry_msgs/include" ABSOLUTE)
target_include_directories(robot_nav_2d_msgs INTERFACE
$<BUILD_INTERFACE:${ROBOT_STD_MSGS_INCLUDE}>
$<BUILD_INTERFACE:${GEOMETRY_MSGS_INCLUDE}>
)
else()
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
)
endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
# Cài đặt header files
if(NOT BUILDING_WITH_CATKIN)
install(DIRECTORY include/robot_nav_2d_msgs
DESTINATION include
FILES_MATCHING PATTERN "*.h")
endif()
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
# Cài đặt target
install(TARGETS robot_nav_2d_msgs
EXPORT robot_nav_2d_msgs-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
RUNTIME DESTINATION bin)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
# Bây giờ có thể export dependencies vì robot_std_msgs và geometry_msgs đã được export
install(EXPORT robot_nav_2d_msgs-targets
FILE robot_nav_2d_msgs-targets.cmake
NAMESPACE robot_nav_2d_msgs::
DESTINATION lib/cmake/robot_nav_2d_msgs)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Print configuration info
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
message(STATUS "Version: ${PROJECT_VERSION}")
@ -146,4 +103,4 @@ else()
endforeach()
message(STATUS "Dependencies: robot_std_msgs, geometry_msgs")
message(STATUS "=================================")
endif()

4
src/Libraries/robot_nav_2d_msgs/package.xml
View File

@ -19,8 +19,4 @@
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>robot_std_msgs</build_depend>
<build_depend>robot_geometry_msgs</build_depend>
<run_depend>robot_std_msgs</run_depend>
<run_depend>robot_geometry_msgs</run_depend>
</package>

299
src/Libraries/robot_nav_2d_utils/CMakeLists.txt
View File

@ -1,6 +1,22 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.10)
project(robot_nav_2d_utils VERSION 1.0.0 LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
# ========================================================
# Catkin specific configuration
# ========================================================
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building robot_nav_2d_utils with Catkin")
@ -10,41 +26,7 @@ else()
message(STATUS "Building robot_nav_2d_utils with Standalone CMake")
endif()
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
'set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(console_bridge REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
robot_nav_2d_msgs
robot_geometry_msgs
robot_nav_msgs
nav_grid
robot_nav_core2
tf3
robot_tf3_geometry_msgs
robot_cpp
console_bridge
)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
robot_nav_2d_msgs
robot_geometry_msgs
@ -56,166 +38,177 @@ else()
robot_cpp
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}_conversions ${PROJECT_NAME}_path_ops ${PROJECT_NAME}_polygons ${PROJECT_NAME}_bounds ${PROJECT_NAME}_tf_help ${PROJECT_NAME}
# CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
DEPENDS console_bridge Boost
)
endif()
# Find dependencies
find_package(console_bridge REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}_conversions ${PROJECT_NAME}_path_ops ${PROJECT_NAME}_polygons ${PROJECT_NAME}_bounds ${PROJECT_NAME}_tf_help ${PROJECT_NAME}
CATKIN_DEPENDS robot_cpp robot_geometry_msgs robot_nav_2d_msgs robot_nav_msgs nav_grid robot_nav_core2
DEPENDS console_bridge Boost
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
endif()
# Libraries
add_library(${PROJECT_NAME}_conversions src/conversions.cpp)
add_library(${PROJECT_NAME}_path_ops src/path_ops.cpp)
add_library(${PROJECT_NAME}_polygons src/polygons.cpp src/footprint.cpp)
add_library(${PROJECT_NAME}_bounds src/bounds.cpp)
add_library(${PROJECT_NAME}_tf_help src/tf_help.cpp)
add_library(${PROJECT_NAME} INTERFACE)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME}_conversions ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_path_ops ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_polygons ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_bounds ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_tf_help ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_conversions ${PACKAGES_DIR} ${Boost_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_path_ops ${PACKAGES_DIR} ${Boost_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_polygons ${PACKAGES_DIR} ${Boost_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_bounds ${PACKAGES_DIR} ${Boost_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_tf_help ${PACKAGES_DIR} ${Boost_LIBRARIES})
target_link_libraries(${PROJECT_NAME} INTERFACE ${PACKAGES_DIR} ${Boost_LIBRARIES})
else()
target_link_libraries(${PROJECT_NAME}_conversions
PUBLIC
${PACKAGES_DIR}
${Boost_LIBRARIES}
)
target_link_libraries(${PROJECT_NAME}_path_ops
PUBLIC
${PACKAGES_DIR}
${Boost_LIBRARIES}
)
target_link_libraries(${PROJECT_NAME}_polygons
PUBLIC
${PACKAGES_DIR}
${Boost_LIBRARIES}
)
target_link_libraries(${PROJECT_NAME}_bounds
PUBLIC
${PACKAGES_DIR}
${Boost_LIBRARIES}
)
target_link_libraries(${PROJECT_NAME}_tf_help
PUBLIC
${PACKAGES_DIR}
${Boost_LIBRARIES}
)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
${Boost_LIBRARIES}
)
set_target_properties(${PROJECT_NAME}_conversions PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
set_target_properties(${PROJECT_NAME}_path_ops PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
set_target_properties(${PROJECT_NAME}_polygons PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
set_target_properties(${PROJECT_NAME}_bounds PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
set_target_properties(${PROJECT_NAME}_tf_help PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
# Note: ${PROJECT_NAME} is an INTERFACE library, so it cannot have LIBRARY_OUTPUT_DIRECTORY
target_include_directories(${PROJECT_NAME}_conversions
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_conversions
PUBLIC
robot_nav_2d_msgs
robot_geometry_msgs
robot_nav_msgs
nav_grid
robot_nav_core2
robot_cpp
PRIVATE
console_bridge::console_bridge
Boost::system
Boost::thread
)
set_target_properties(${PROJECT_NAME}_conversions PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
add_library(${PROJECT_NAME}_path_ops src/path_ops.cpp)
target_include_directories(${PROJECT_NAME}_path_ops
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_path_ops
PUBLIC
robot_nav_2d_msgs
robot_geometry_msgs
robot_cpp
)
set_target_properties(${PROJECT_NAME}_path_ops PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
add_library(${PROJECT_NAME}_polygons src/polygons.cpp src/footprint.cpp)
target_include_directories(${PROJECT_NAME}_polygons
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
if(robot_xmlrpcpp_FOUND)
target_include_directories(${PROJECT_NAME}_polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME}_polygons
PUBLIC robot_nav_2d_msgs robot_geometry_msgs robot_cpp
PRIVATE ${robot_xmlrpcpp_LIBRARIES})
elseif(XmlRpcCpp_FOUND)
target_include_directories(${PROJECT_NAME}_polygons PRIVATE ${XmlRpcCpp_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME}_polygons
PUBLIC robot_nav_2d_msgs robot_geometry_msgs robot_cpp
PRIVATE ${XmlRpcCpp_LIBRARIES})
else()
target_include_directories(${PROJECT_NAME}_polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME}_polygons
PUBLIC robot_nav_2d_msgs robot_geometry_msgs robot_cpp
PRIVATE ${robot_xmlrpcpp_LIBRARIES})
endif()
set_target_properties(${PROJECT_NAME}_polygons PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
add_library(${PROJECT_NAME}_bounds src/bounds.cpp)
target_include_directories(${PROJECT_NAME}_bounds
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_bounds
PUBLIC
nav_grid
robot_nav_core2
robot_cpp
)
set_target_properties(${PROJECT_NAME}_bounds PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
add_library(${PROJECT_NAME}_tf_help src/tf_help.cpp)
target_include_directories(${PROJECT_NAME}_tf_help
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}_tf_help
PUBLIC
robot_nav_2d_msgs
robot_geometry_msgs
robot_nav_msgs
robot_nav_core2
tf3
robot_tf3_geometry_msgs
robot_cpp
)
set_target_properties(${PROJECT_NAME}_tf_help PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
# Create an INTERFACE library that represents all robot_nav_2d_utils libraries
add_library(${PROJECT_NAME} INTERFACE)
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PROJECT_NAME}_conversions
${PROJECT_NAME}_path_ops
${PROJECT_NAME}_polygons
${PROJECT_NAME}_bounds
${PROJECT_NAME}_tf_help
robot_cpp
)
# Install header files
if(NOT BUILDING_WITH_CATKIN)
install(DIRECTORY include/${PROJECT_NAME}
DESTINATION include
FILES_MATCHING PATTERN "*.h")
# Install mapbox headers
install(DIRECTORY include/mapbox
DESTINATION include
FILES_MATCHING PATTERN "*.hpp")
endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_conversions ${PROJECT_NAME}_path_ops ${PROJECT_NAME}_polygons ${PROJECT_NAME}_bounds ${PROJECT_NAME}_tf_help
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/ include/mapbox
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
PATTERN ".svn" EXCLUDE
)
else()
# Install targets
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_conversions ${PROJECT_NAME}_path_ops ${PROJECT_NAME}_polygons ${PROJECT_NAME}_bounds ${PROJECT_NAME}_tf_help
EXPORT ${PROJECT_NAME}-targets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/ include/mapbox
DESTINATION include
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
PATTERN ".svn" EXCLUDE
)
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME})
# Print configuration info
message(STATUS "=================================")
@ -225,9 +218,3 @@ else()
message(STATUS "Libraries: ${PROJECT_NAME}_conversions, ${PROJECT_NAME}_path_ops, ${PROJECT_NAME}_polygons, ${PROJECT_NAME}_bounds, ${PROJECT_NAME}_tf_help")
message(STATUS "Dependencies: robot_nav_2d_msgs, robot_geometry_msgs, robot_nav_msgs, nav_grid, robot_nav_core2, tf3, console_bridge, Boost")
message(STATUS "=================================")
endif()

2
src/Libraries/robot_time

@ -1 +1 @@
Subproject commit 6b23f32c6e3d3b969c840ef763c5fb22cc2e14d7
Subproject commit 504de86ee92a2684564cc3a561f3f534eb798160

233
src/Libraries/tf3/CMakeLists.txt
View File

@ -1,27 +1,6 @@
cmake_minimum_required(VERSION 3.0.2)
project(tf3 VERSION 1.0.0 LANGUAGES CXX)
project(tf3)
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building tf3 with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building tf3 with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(console_bridge REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
@ -29,180 +8,106 @@ if (NOT BUILDING_WITH_CATKIN)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
# ========================================================
# Find Packages
# ========================================================
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
find_package(catkin REQUIRED COMPONENTS console_bridge)
else()
set(BUILDING_WITH_CATKIN FALSE)
endif()
find_package(console_bridge REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
DEPENDS console_bridge Boost
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${console_bridge_INCLUDE_DIRS}
)
endif()
# Libraries
add_library(${PROJECT_NAME} SHARED
src/cache.cpp
src/buffer_core.cpp
src/static_cache.cpp
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
## The catkin_package macro generates cmake config files for your package
catkin_package(
INCLUDE_DIRS include
LIBRARIES tf3
DEPENDS console_bridge
)
endif()
include_directories(include ${console_bridge_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME}
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::boost Boost::system Boost::thread
PRIVATE console_bridge::console_bridge
)
# export user definitions
else()
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
PUBLIC
Boost::boost Boost::system Boost::thread
console_bridge::console_bridge
)
set_target_properties(${PROJECT_NAME} PROPERTIES
#CPP Libraries
add_library(tf3 src/cache.cpp src/buffer_core.cpp src/static_cache.cpp)
target_link_libraries(tf3 ${Boost_LIBRARIES} ${console_bridge_LIBRARIES})
set_target_properties(tf3 PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
endif()
## Add cmake target dependencies
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
add_dependencies(tf3 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
target_include_directories(tf3 PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
add_executable(simple_tf3_example examples/simple_tf3_example.cpp)
target_include_directories(simple_tf3_example PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_link_libraries(simple_tf3_example PRIVATE tf3 pthread ${console_bridge_LIBRARIES})
set_target_properties(simple_tf3_example PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
install(TARGETS tf3
EXPORT tf3-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
if(NOT BUILDING_WITH_CATKIN)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Print configuration info
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Dependencies: console_bridge, Boost")
message(STATUS "=================================")
endif()
# ========================================================
# Example executables
# ========================================================
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/examples/simple_tf3_example.cpp)
add_executable(${PROJECT_NAME}_example examples/simple_tf3_example.cpp)
target_include_directories(${PROJECT_NAME}_example PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_link_libraries(${PROJECT_NAME}_example PRIVATE
${PROJECT_NAME}
pthread
console_bridge::console_bridge
DESTINATION include/${PROJECT_NAME}
)
endif()
# ========================================================
# Test executables
# ========================================================
# Export targets - cần trong mọi trường hợp
install(EXPORT tf3-targets
FILE tf3-targets.cmake
NAMESPACE tf3::
DESTINATION lib/cmake/tf3)
# Tests
option(BUILD_TESTING "Build tests" OFF)
if(BUILD_TESTING)
enable_testing()
add_executable(test_cache_unittest test/cache_unittest.cpp)
target_link_libraries(test_cache_unittest tf3 ${console_bridge_LIBRARIES})
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/cache_unittest.cpp)
add_executable(${PROJECT_NAME}_cache_test test/cache_unittest.cpp)
target_link_libraries(${PROJECT_NAME}_cache_test PRIVATE
${PROJECT_NAME}
console_bridge::console_bridge
)
add_test(NAME ${PROJECT_NAME}_cache_test COMMAND ${PROJECT_NAME}_cache_test)
endif()
add_executable(test_static_cache_unittest test/static_cache_test.cpp)
target_link_libraries(test_static_cache_unittest tf3 ${console_bridge_LIBRARIES})
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/static_cache_test.cpp)
add_executable(${PROJECT_NAME}_static_cache_test test/static_cache_test.cpp)
target_link_libraries(${PROJECT_NAME}_static_cache_test PRIVATE
${PROJECT_NAME}
console_bridge::console_bridge
)
add_test(NAME ${PROJECT_NAME}_static_cache_test COMMAND ${PROJECT_NAME}_static_cache_test)
endif()
add_executable(test_simple test/simple_tf3_core.cpp)
target_link_libraries(test_simple tf3 ${console_bridge_LIBRARIES})
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/simple_tf3_core.cpp)
add_executable(${PROJECT_NAME}_simple_test test/simple_tf3_core.cpp)
target_link_libraries(${PROJECT_NAME}_simple_test PRIVATE
${PROJECT_NAME}
console_bridge::console_bridge
)
add_test(NAME ${PROJECT_NAME}_simple_test COMMAND ${PROJECT_NAME}_simple_test)
endif()
add_executable(speed_test test/speed_test.cpp)
target_link_libraries(speed_test tf3 ${console_bridge_LIBRARIES})
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/speed_test.cpp)
add_executable(${PROJECT_NAME}_speed_test test/speed_test.cpp)
target_link_libraries(${PROJECT_NAME}_speed_test PRIVATE
${PROJECT_NAME}
console_bridge::console_bridge
)
add_test(NAME ${PROJECT_NAME}_speed_test COMMAND ${PROJECT_NAME}_speed_test)
endif()
add_executable(test_transform_datatypes test/test_transform_datatypes.cpp)
target_link_libraries(test_transform_datatypes tf3 ${console_bridge_LIBRARIES})
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_transform_datatypes.cpp)
add_executable(${PROJECT_NAME}_transform_datatypes_test test/test_transform_datatypes.cpp)
target_link_libraries(${PROJECT_NAME}_transform_datatypes_test PRIVATE
${PROJECT_NAME}
console_bridge::console_bridge
)
add_test(NAME ${PROJECT_NAME}_transform_datatypes_test COMMAND ${PROJECT_NAME}_transform_datatypes_test)
endif()
add_test(NAME test_cache_unittest COMMAND test_cache_unittest)
add_test(NAME test_static_cache_unittest COMMAND test_static_cache_unittest)
add_test(NAME test_simple COMMAND test_simple)
add_test(NAME speed_test COMMAND speed_test)
add_test(NAME test_transform_datatypes COMMAND test_transform_datatypes)
endif()

2
src/Libraries/tf3/package.xml
View File

@ -19,7 +19,5 @@
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>console_bridge</build_depend>
<run_depend>console_bridge</run_depend>
</package>

2
src/Libraries/voxel_grid

@ -1 +1 @@
Subproject commit 3daeae614788ff326feb04bfd6ad9d76ffc7a105
Subproject commit 4303737ff92db94dc1bcde2d8a3bef527e76355a

2
src/Libraries/xmlrpcpp

@ -1 +1 @@
Subproject commit 948405bba436a164cb27f1b24cbb2bcf8ca053b2
Subproject commit 5f7ae1233dc66c6fa8c75e881b7100f0d77f9a64

154
src/Navigations/Cores/move_base_core/CMakeLists.txt
View File

@ -1,142 +1,78 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.10)
project(move_base_core VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# ========================================================
# Catkin specific configuration
# ========================================================
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building move_base_core with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building move_base_core with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
tf3
robot_time
robot_geometry_msgs
robot_protocol_msgs
robot_nav_2d_msgs
)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED COMPONENTS
tf3
robot_time
robot_geometry_msgs
robot_protocol_msgs
robot_nav_2d_msgs
)
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS tf3 robot_time robot_geometry_msgs robot_protocol_msgs robot_nav_2d_msgs)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
LIBRARIES move_base_core
CATKIN_DEPENDS tf3 robot_time robot_geometry_msgs robot_protocol_msgs robot_nav_2d_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
# CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
)
endif()
# Tìm tất cả header files
file(GLOB_RECURSE HEADERS "include/move_base_core/*.h")
file(GLOB HEADERS "include/move_base_core/*.h")
# Tạo INTERFACE library (header-only)
add_library(${PROJECT_NAME} INTERFACE)
add_library(move_base_core INTERFACE)
# Set include directories trước khi link libraries
target_include_directories(move_base_core
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link với dependencies - include directories sẽ được truyền tự động qua INTERFACE properties
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${catkin_LIBRARIES}
)
target_link_libraries(move_base_core INTERFACE ${catkin_TARGETS})
else()
# Set include directories
target_include_directories(${PROJECT_NAME}
target_link_libraries(move_base_core
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
tf3
robot_time
robot_geometry_msgs
robot_protocol_msgs
robot_nav_2d_msgs # Thêm vì navigation.h include robot_nav_2d_msgs/Twist2DStamped.h
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
)
endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
# Cài đặt header files
if(NOT BUILDING_WITH_CATKIN)
install(DIRECTORY include/move_base_core
DESTINATION include
FILES_MATCHING PATTERN "*.h")
endif()
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
# Cài đặt target
install(TARGETS move_base_core
EXPORT move_base_core-targets
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
install(EXPORT move_base_core-targets
FILE move_base_core-targets.cmake
DESTINATION lib/cmake/move_base_core)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Print configuration info
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
message(STATUS "Version: ${PROJECT_VERSION}")
@ -145,6 +81,4 @@ else()
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "Dependencies: tf3, robot_time, robot_geometry_msgs, robot_protocol_msgs, robot_nav_2d_msgs")
message(STATUS "=================================")
endif()

150
src/Navigations/Cores/robot_nav_core/CMakeLists.txt
View File

@ -1,138 +1,114 @@
cmake_minimum_required(VERSION 3.0.2)
project(robot_nav_core VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building robot_nav_core with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building robot_nav_core with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
# Tên dự án
project(robot_nav_core VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
robot_costmap_2d
tf3
robot_protocol_msgs
)
else()
# ========================================================
# Catkin specific configuration
# Find dependencies
# ========================================================
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
robot_costmap_2d
tf3
robot_protocol_msgs
)
endif()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
# Header-only library; keep LIBRARIES for visibility when exporting
LIBRARIES robot_nav_core
CATKIN_DEPENDS robot_costmap_2d tf3 robot_protocol_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
endif()
# Tìm tất cả header files
file(GLOB_RECURSE HEADERS "include/robot_nav_core/*.h")
# Cho phép các project khác include được header của robot_nav_core
set(${PROJECT_NAME}_INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/include
PARENT_SCOPE
)
include_directories(
${PROJECT_SOURCE_DIR}/include
)
if(BUILDING_WITH_CATKIN)
include_directories(${catkin_INCLUDE_DIRS})
endif()
# Tạo INTERFACE library (header-only)
add_library(${PROJECT_NAME} INTERFACE)
# Link libraries
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
target_link_libraries(${PROJECT_NAME} INTERFACE
${catkin_LIBRARIES}
)
else()
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
target_link_libraries(${PROJECT_NAME} INTERFACE
robot_costmap_2d
tf3
robot_protocol_msgs
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
)
endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
# ========================================================
# Installation
# ========================================================
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin)
if(NOT BUILDING_WITH_CATKIN)
# Cài đặt header files (standalone)
install(DIRECTORY include/${PROJECT_NAME}
DESTINATION include
FILES_MATCHING PATTERN "*.h")
endif()
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
DESTINATION lib/cmake/${PROJECT_NAME})
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Print configuration info
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
message(STATUS "Version: ${PROJECT_VERSION}")
@ -141,6 +117,4 @@ else()
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "Dependencies: robot_costmap_2d, tf3, robot_protocol_msgs")
message(STATUS "=================================")
endif()

184
src/Navigations/Cores/robot_nav_core2/CMakeLists.txt
View File

@ -1,144 +1,132 @@
cmake_minimum_required(VERSION 3.0.2)
project(robot_nav_core2 VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building robot_nav_core2 with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building robot_nav_core2 with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
# Tên dự án
project(robot_nav_core2 VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
robot_costmap_2d
tf3
nav_grid
robot_nav_2d_msgs
robot_cpp
robot_geometry_msgs
)
else()
# ========================================================
# Catkin specific configuration
# Find dependencies
# ========================================================
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
robot_costmap_2d
tf3
nav_grid
robot_nav_2d_msgs
robot_cpp
robot_geometry_msgs
)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
CATKIN_DEPENDS robot_costmap_2d tf3 nav_grid robot_nav_2d_msgs robot_cpp robot_geometry_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
robot_sensor_msgs
robot_std_msgs
geometry_msgs
robot_nav_msgs
robot_map_msgs
robot_laser_geometry
robot_visualization_msgs
robot_voxel_grid
robot_tf3_geometry_msgs
robot_tf3_sensor_msgs
data_convert
robot_xmlrpcpp
)
endif()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
catkin_package(
INCLUDE_DIRS include
# Header-only library; keep LIBRARIES for visibility when exporting
LIBRARIES robot_nav_core2
CATKIN_DEPENDS robot_costmap_2d tf3 nav_grid robot_nav_2d_msgs robot_cpp
)
endif()
# Cho phép các project khác include được header của robot_nav_core2
set(robot_nav_core2_INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/include
PARENT_SCOPE
)
include_directories(
${PROJECT_SOURCE_DIR}/include
)
if(BUILDING_WITH_CATKIN)
include_directories(${catkin_INCLUDE_DIRS})
endif()
# Tìm tất cả header files
file(GLOB_RECURSE HEADERS "include/robot_nav_core2/*.h")
file(GLOB HEADERS "include/robot_nav_core2/*.h")
# Tạo INTERFACE library (header-only)
add_library(${PROJECT_NAME} INTERFACE)
# Link libraries
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
target_link_libraries(${PROJECT_NAME} INTERFACE
${catkin_LIBRARIES}
)
else()
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
target_link_libraries(${PROJECT_NAME} INTERFACE
robot_costmap_2d
tf3
nav_grid
robot_nav_2d_msgs
robot_cpp
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
)
endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# ========================================================
# Installation
# ========================================================
# Cài đặt target
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
EXPORT ${PROJECT_NAME}-targets)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
if(NOT BUILDING_WITH_CATKIN)
# Cài đặt header files (standalone)
install(DIRECTORY include/${PROJECT_NAME}
DESTINATION include
FILES_MATCHING PATTERN "*.h")
endif()
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
DESTINATION lib/cmake/${PROJECT_NAME})
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Print configuration info
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
message(STATUS "Version: ${PROJECT_VERSION}")
@ -147,6 +135,4 @@ else()
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "Dependencies: robot_costmap_2d, tf3, nav_grid, robot_nav_2d_msgs, robot_cpp, robot_geometry_msgs")
message(STATUS "=================================")
endif()

3
src/Navigations/Cores/robot_nav_core2/package.xml
View File

@ -34,7 +34,4 @@
<build_depend>robot_cpp</build_depend>
<run_depend>robot_cpp</run_depend>
<build_depend>robot_geometry_msgs</build_depend>
<run_depend>robot_geometry_msgs</run_depend>
</package>

326
src/Navigations/Cores/robot_nav_core_adapter/CMakeLists.txt
View File

@ -1,48 +1,37 @@
cmake_minimum_required(VERSION 3.0.2)
project(robot_nav_core_adapter VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building robot_nav_core_adapter with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building robot_nav_core_adapter with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
# Tên dự án
project(robot_nav_core_adapter VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# ========================================================
# Find dependencies
# ========================================================
# Find system dependencies
find_package(Boost REQUIRED COMPONENTS filesystem system)
find_package(Threads REQUIRED)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
geometry_msgs
robot_std_msgs
robot_nav_core
robot_nav_core2
robot_nav_2d_utils
robot_cpp
)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
robot_std_msgs
@ -51,194 +40,173 @@ else()
robot_nav_2d_utils
robot_cpp
)
endif()
# Dependencies packages (internal libraries)
set(PACKAGES_DIR geometry_msgs robot_std_msgs robot_nav_core robot_nav_core2 robot_nav_2d_utils pthread)
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
catkin_package(
INCLUDE_DIRS include
LIBRARIES costmap_adapter local_planner_adapter global_planner_adapter
CATKIN_DEPENDS geometry_msgs robot_std_msgs robot_nav_core robot_nav_core2 robot_nav_2d_utils robot_cpp
DEPENDS Boost
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
endif()
# ========================================================
# Libraries
# ========================================================
add_library(costmap_adapter SHARED
src/costmap_adapter.cpp
# Thư mục include
include_directories(
${PROJECT_SOURCE_DIR}/include
)
add_library(local_planner_adapter SHARED
src/local_planner_adapter.cpp
)
if(BUILDING_WITH_CATKIN)
include_directories(${catkin_INCLUDE_DIRS})
endif()
add_library(global_planner_adapter SHARED
src/global_planner_adapter.cpp
# ========================================================
# Build
# ========================================================
# Tạo thư viện shared (.so)
add_library(costmap_adapter src/costmap_adapter.cpp)
# Link libraries
if(BUILDING_WITH_CATKIN)
target_link_libraries(costmap_adapter
PRIVATE ${catkin_LIBRARIES}
)
else()
target_link_libraries(costmap_adapter
PRIVATE ${PACKAGES_DIR}
)
endif()
target_include_directories(costmap_adapter PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
add_library(local_planner_adapter src/local_planner_adapter.cpp)
if(BUILDING_WITH_CATKIN)
target_link_libraries(local_planner_adapter
PRIVATE
Boost::filesystem
Boost::system
dl
costmap_adapter
${catkin_LIBRARIES}
)
else()
target_link_libraries(local_planner_adapter
PRIVATE
Boost::filesystem
Boost::system
dl
costmap_adapter
robot_cpp
${PACKAGES_DIR}
)
endif()
target_include_directories(local_planner_adapter PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
add_library(global_planner_adapter src/global_planner_adapter.cpp)
if(BUILDING_WITH_CATKIN)
target_link_libraries(global_planner_adapter
PRIVATE
Boost::filesystem
Boost::system
dl
costmap_adapter
${catkin_LIBRARIES}
)
else()
target_link_libraries(global_planner_adapter
PRIVATE
Boost::filesystem
Boost::system
dl
costmap_adapter
${PACKAGES_DIR}
)
endif()
if(BUILDING_WITH_CATKIN)
add_dependencies(costmap_adapter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(local_planner_adapter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(global_planner_adapter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
# costmap_adapter
target_include_directories(costmap_adapter
PUBLIC
target_include_directories(global_planner_adapter PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
$<INSTALL_INTERFACE:include>)
target_link_libraries(costmap_adapter
PUBLIC ${catkin_LIBRARIES}
)
# local_planner_adapter
target_include_directories(local_planner_adapter
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(local_planner_adapter
PUBLIC costmap_adapter
PRIVATE ${catkin_LIBRARIES}
PRIVATE Boost::filesystem Boost::system
PRIVATE dl
PRIVATE robot_cpp
)
# global_planner_adapter
target_include_directories(global_planner_adapter
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(global_planner_adapter
PUBLIC costmap_adapter
PRIVATE ${catkin_LIBRARIES}
PRIVATE Boost::filesystem Boost::system
PRIVATE dl
)
else()
# costmap_adapter
target_include_directories(costmap_adapter
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(costmap_adapter
PUBLIC
${PACKAGES_DIR}
# Ensure runtime loader prefers in-tree adapter libs over system/ROS libs.
# Without this, dlopen() may resolve libcostmap_adapter.so from /opt/ros/noetic/lib,
# which has a different ABI (Costmap2DROBOT) and causes missing symbols.
set(_ROBOT_NAV_CORE_ADAPTER_RPATH
"${CMAKE_BINARY_DIR}/src/Navigations/Cores/robot_nav_core_adapter"
"${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
"${CMAKE_BINARY_DIR}/src/Libraries/tf3"
"${CMAKE_BINARY_DIR}/src/Libraries/robot_time"
"${CMAKE_BINARY_DIR}/src/Libraries/robot_cpp"
)
set_target_properties(costmap_adapter PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
# local_planner_adapter
target_include_directories(local_planner_adapter
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(local_planner_adapter
PUBLIC costmap_adapter
PRIVATE
${PACKAGES_DIR}
Boost::filesystem Boost::system
dl
robot_cpp
)
set_target_properties(local_planner_adapter PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
# global_planner_adapter
target_include_directories(global_planner_adapter
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(global_planner_adapter
PUBLIC costmap_adapter
PRIVATE
${PACKAGES_DIR}
Boost::filesystem Boost::system
dl
)
set_target_properties(global_planner_adapter PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
# ========================================================
# Installation
# ========================================================
# Cài đặt library
install(TARGETS global_planner_adapter local_planner_adapter costmap_adapter
EXPORT robot_nav_core_adapter-targets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin)
if(NOT BUILDING_WITH_CATKIN)
# Cài đặt header files (standalone)
install(DIRECTORY include/robot_nav_core_adapter
DESTINATION include
FILES_MATCHING PATTERN "*.h")
endif()
# ========================================================
# Install
# ========================================================
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS costmap_adapter local_planner_adapter global_planner_adapter
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS costmap_adapter local_planner_adapter global_planner_adapter
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
install(EXPORT robot_nav_core_adapter-targets
FILE robot_nav_core_adapter-targets.cmake
DESTINATION lib/cmake/robot_nav_core_adapter)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Tùy chọn build
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_TESTS "Build test programs" OFF)
# Print configuration info
# Flags biên dịch
# Warning flags - disabled to suppress warnings during build
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Libraries: costmap_adapter, local_planner_adapter, global_planner_adapter")
message(STATUS "Dependencies: geometry_msgs, robot_std_msgs, robot_nav_core, robot_nav_core2, robot_nav_2d_utils, robot_cpp, Boost")
message(STATUS "Headers found:")
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "=================================")
endif()

162
src/Navigations/Libraries/nav_grid/CMakeLists.txt
View File

@ -1,48 +1,41 @@
cmake_minimum_required(VERSION 3.0.2)
project(nav_grid VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building nav_grid with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building nav_grid with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
project(nav_grid VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# ========================================================
# Find dependencies
find_package(GTest QUIET)
# ========================================================
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
else()
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED)
endif()
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED)
if(BUILDING_WITH_CATKIN)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
)
include_directories(
include
${catkin_INCLUDE_DIRS}
LIBRARIES nav_grid
)
endif()
@ -50,75 +43,60 @@ endif()
file(GLOB_RECURSE HEADERS "include/nav_grid/*.h")
# Tạo INTERFACE library (header-only)
add_library(${PROJECT_NAME} INTERFACE)
add_library(nav_grid INTERFACE)
# Set include directories
target_include_directories(nav_grid
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Link dependencies (header-only, chỉ cần include paths)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${catkin_LIBRARIES}
)
else()
# Set include directories
target_include_directories(${PROJECT_NAME}
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_dependencies(nav_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
# Cài đặt header files
if(NOT BUILDING_WITH_CATKIN)
install(DIRECTORY include/nav_grid
DESTINATION include
FILES_MATCHING PATTERN "*.h")
endif()
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
# Cài đặt target
install(TARGETS nav_grid
EXPORT nav_grid-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
RUNTIME DESTINATION bin)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
install(EXPORT nav_grid-targets
FILE nav_grid-targets.cmake
NAMESPACE nav_grid::
DESTINATION lib/cmake/nav_grid)
# Tùy chọn build tests
option(BUILD_TESTING "Build test programs" OFF)
if(BUILD_TESTING)
find_package(GTest REQUIRED)
# Tạo test executable
add_executable(nav_grid_test test/utest.cpp)
target_link_libraries(nav_grid_test
PRIVATE
nav_grid
GTest::GTest
GTest::Main
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Thêm test vào CTest
enable_testing()
add_test(NAME nav_grid_test COMMAND nav_grid_test)
endif()
# Print configuration info
# In thông tin cấu hình
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
message(STATUS "Version: ${PROJECT_VERSION}")
@ -127,27 +105,5 @@ else()
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "Dependencies: None")
message(STATUS "Build tests: ${BUILD_TESTING}")
message(STATUS "=================================")
endif()
# ========================================================
# Test executables
# ========================================================
if(GTest_FOUND OR GTEST_FOUND)
enable_testing()
find_package(Threads REQUIRED)
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/utest.cpp)
add_executable(${PROJECT_NAME}_test test/utest.cpp)
target_link_libraries(${PROJECT_NAME}_test PRIVATE
${PROJECT_NAME}
GTest::GTest
GTest::Main
Threads::Threads
)
add_test(NAME ${PROJECT_NAME}_test COMMAND ${PROJECT_NAME}_test)
endif()
else()
message(STATUS "Google Test not found. Tests will not be built.")
endif()

277
src/Navigations/Packages/move_base/CMakeLists.txt
View File

@ -1,54 +1,35 @@
cmake_minimum_required(VERSION 3.0.2)
project(move_base VERSION 1.0.0 LANGUAGES CXX)
cmake_minimum_required(VERSION 3.10)
# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================
# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building move_base with Catkin")
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building move_base with Standalone CMake")
endif()
# C++ Standard - must be set before find_package
# Tên dự án
project(move_base VERSION 1.0.0 LANGUAGES CXX)
# Chuẩn C++
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# ========================================================
# Find Packages
# ========================================================
find_package(Boost REQUIRED COMPONENTS filesystem system)
find_package(Threads REQUIRED)
find_package(yaml-cpp REQUIRED)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
geometry_msgs
robot_std_msgs
move_base_core
robot_nav_core
robot_costmap_2d
plugins
robot_tf3_sensor_msgs
robot_tf3_geometry_msgs
data_convert
robot_nav_2d_utils
robot_cpp
)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
robot_std_msgs
@ -61,145 +42,175 @@ else()
robot_nav_2d_utils
robot_cpp
)
endif()
# ========================================================
# Source Files
# ========================================================
file(GLOB SOURCES "src/move_base.cpp")
file(GLOB HEADERS "include/move_base/move_base.h")
# ========================================================
# Catkin specific configuration
# ========================================================
if(BUILDING_WITH_CATKIN)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
LIBRARIES move_base
CATKIN_DEPENDS geometry_msgs robot_std_msgs move_base_core robot_nav_core robot_costmap_2d robot_tf3_sensor_msgs robot_tf3_geometry_msgs data_convert robot_nav_2d_utils robot_cpp
DEPENDS Boost yaml-cpp
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
endif()
# ========================================================
# Libraries
# Include Directories
# ========================================================
add_library(${PROJECT_NAME} SHARED
src/move_base.cpp
include_directories(
${PROJECT_SOURCE_DIR}/include
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
include_directories(${catkin_INCLUDE_DIRS})
endif()
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
# ========================================================
# RPATH settings: ưu tiên thư viện build tại chỗ
# ========================================================
set(CMAKE_SKIP_BUILD_RPATH FALSE)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp")
set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_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")
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
# ========================================================
# Create Library
# ========================================================
add_library(move_base SHARED ${SOURCES} ${HEADERS})
# ========================================================
# Dependencies and Link Libraries
# ========================================================
if(BUILDING_WITH_CATKIN)
target_link_libraries(move_base
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::filesystem Boost::system
)
else()
# Standalone CMake mode: link all dependencies manually
set(PACKAGES_DIR
geometry_msgs
robot_std_msgs
move_base_core
robot_nav_core
robot_costmap_2d
plugins # Link với plugins library để có StaticLayer typeinfo
yaml-cpp
robot_tf3_sensor_msgs
robot_tf3_geometry_msgs
data_convert
dl
pthread
robot_nav_2d_utils
)
else()
target_link_libraries(move_base
PUBLIC ${PACKAGES_DIR}
PUBLIC robot_cpp
PRIVATE Boost::filesystem Boost::system
)
endif()
target_include_directories(${PROJECT_NAME}
# Set RPATH để ưu tiên thư viện build cục bộ
set_target_properties(move_base PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
if(BUILDING_WITH_CATKIN)
add_dependencies(move_base ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
# ========================================================
# Include Directories for Target
# ========================================================
target_include_directories(move_base
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(${PROJECT_NAME}
PUBLIC
${PACKAGES_DIR}
PRIVATE
Boost::filesystem Boost::system
yaml-cpp
dl
)
set_target_properties(${PROJECT_NAME} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
endif()
# ========================================================
# Executable
# ========================================================
add_executable(${PROJECT_NAME}_main src/move_base_main.cpp)
if(BUILDING_WITH_CATKIN)
target_link_libraries(${PROJECT_NAME}_main PRIVATE
${PROJECT_NAME}
robot_cpp
Boost::filesystem Boost::system
dl
)
else()
target_link_libraries(${PROJECT_NAME}_main PRIVATE
${PROJECT_NAME}
robot_cpp
Boost::filesystem Boost::system
dl
add_executable(move_base_main src/move_base_main.cpp)
target_link_libraries(move_base_main
PRIVATE move_base robot_cpp
PRIVATE Boost::filesystem Boost::system
)
# Configure RPATH to find libraries in devel space
set_target_properties(${PROJECT_NAME}_main PROPERTIES
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH TRUE
BUILD_RPATH "${CMAKE_BINARY_DIR}"
# Set RPATH for executable to find libraries in build directory first
# Use RPATH instead of RUNPATH for higher priority
# Force use of RPATH instead of RUNPATH
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--disable-new-dtags")
# ========================================================
# Installation
# ========================================================
if(NOT BUILDING_WITH_CATKIN)
# Standalone CMake installation
install(DIRECTORY include/move_base
DESTINATION include
FILES_MATCHING PATTERN "*.h"
)
endif()
# ========================================================
# Install
# ========================================================
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
install(TARGETS move_base move_base_main
EXPORT move_base-targets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
if(NOT BUILDING_WITH_CATKIN)
install(EXPORT move_base-targets
FILE move_base-targets.cmake
DESTINATION lib/cmake/move_base
)
endif()
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Print configuration info
# ========================================================
# Build Options
# ========================================================
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_TESTS "Build test programs" OFF)
# ========================================================
# Compiler Flags
# ========================================================
# Warning flags - disabled to suppress warnings during build
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
# ========================================================
# Status Messages
# ========================================================
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "Build mode: ${BUILDING_WITH_CATKIN}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Libraries: ${PROJECT_NAME}")
message(STATUS "Executables: ${PROJECT_NAME}_main")
message(STATUS "Dependencies: geometry_msgs, robot_std_msgs, move_base_core, robot_nav_core, robot_costmap_2d, robot_tf3_sensor_msgs, robot_tf3_geometry_msgs, data_convert, robot_nav_2d_utils, robot_cpp, Boost, yaml-cpp")
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
message(STATUS "Headers found:")
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "=================================")
endif()