/
CMakeLists.txt
76 lines (66 loc) · 1.45 KB
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(global_replanner)
find_package(catkin REQUIRED
COMPONENTS
angles
costmap_2d
dynamic_reconfigure
geometry_msgs
nav_core
navfn
nav_msgs
pluginlib
roscpp
tf
base_local_planner
# navfntest
)
generate_dynamic_reconfigure_options(
cfg/GlobalReplanner.cfg
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
costmap_2d
dynamic_reconfigure
geometry_msgs
nav_core
navfn
nav_msgs
pluginlib
roscpp
tf
carrot_planner
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME}
src/quadratic_calculator.cpp
src/dijkstra.cpp
src/astar.cpp
src/grid_path.cpp
src/gradient_path.cpp
src/orientation_filter.cpp
src/planner_core.cpp
)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
add_executable(planner
src/plan_node.cpp
)
target_link_libraries(planner
${PROJECT_NAME}
${catkin_LIBRARIES}
)
install(TARGETS ${PROJECT_NAME} planner
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE)
install(FILES replan_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})