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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(srpb_move_base)
find_package(catkin REQUIRED
COMPONENTS
actionlib
base_local_planner
clear_costmap_recovery
cmake_modules
costmap_2d
dynamic_reconfigure
geometry_msgs
message_generation
move_base_msgs
nav_core
nav_msgs
navfn
pluginlib
roscpp
rospy
rotate_recovery
std_srvs
tf2_geometry_msgs
tf2_ros
srpb_logger
srpb_tooling
)
find_package(Eigen3 REQUIRED)
add_definitions(${EIGEN3_DEFINITIONS})
# dynamic reconfigure
generate_dynamic_reconfigure_options(
cfg/MoveBase.cfg
)
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
${PROJECT_NAME}
CATKIN_DEPENDS
dynamic_reconfigure
geometry_msgs
move_base_msgs
nav_msgs
roscpp
srpb_logger
srpb_tooling
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${srpb_logger_INCLUDE_DIRS}
${srpb_tooling_INCLUDE_DIRS}
)
# move_base
add_library(${PROJECT_NAME}
src/move_base.cpp
)
target_link_libraries(${PROJECT_NAME}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
${srpb_logger_LIBRARIES}
${srpb_tooling_LIBRARIES}
)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(${PROJECT_NAME}_node
src/move_base_node.cpp
)
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME})
set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
install(
TARGETS
${PROJECT_NAME}_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
TARGETS
${PROJECT_NAME}
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)