-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
executable file
·99 lines (80 loc) · 2.83 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
cmake_minimum_required(VERSION 2.8.3)
project(theta_star_2d)
set(CMAKE_CXX_STANDARD 14)
if($ENV{ROS_DISTRO} STREQUAL "melodic" )
add_definitions(-DMELODIC)
endif()
if($ENV{ROS_DISTRO} STREQUAL "noetic" )
add_definitions(-DNOETIC)
endif()
find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
upo_actions
roscpp
costmap_2d
geometry_msgs
trajectory_msgs
octomap_msgs
octomap_ros
pcl_conversions
pcl_ros
)
find_package(Boost REQUIRED COMPONENTS system)
# Generate messages in the 'msg' folder
add_message_files(
FILES
# addObstacle.msg
)
add_service_files(
FILES
SaveMission.srv
# checkObstacles.srv
)
generate_messages(
DEPENDENCIES
std_msgs
)
generate_dynamic_reconfigure_options(
cfg/LocalPlanner.cfg
cfg/GlobalPlanner.cfg
cfg/sim.cfg
)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp upo_actions message_runtime octomap_msgs octomap_ros pcl_conversions pcl_ros
DEPENDS octomap_msgs octomap_ros
)
###########
## Build ##
###########
include_directories(
${catkin_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/include
${Boost_INCLUDE_DIRS}
)
#add_executable(sim_planner_node src/sim_planner_node.cpp src/ThetaStar.cpp)
#target_link_libraries(sim_planner_node ${catkin_LIBRARIES})
#add_dependencies(sim_planner_node ${PROJECT_NAME}_gencfg)
#add_dependencies(sim_planner_node ${catkin_EXPORTED_TARGETS})
add_executable(global_planner_node src/global_planner_node.cpp src/GlobalPlanner.cpp src/ThetaStar2D.cpp src/ThetaStar3D.cpp)
target_link_libraries(global_planner_node ${catkin_LIBRARIES})
add_dependencies(global_planner_node ${PROJECT_NAME}_gencfg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(local_planner_node src/local_planner_node.cpp src/LocalPlanner.cpp src/ThetaStar2D.cpp src/ThetaStar3D.cpp)
target_link_libraries(local_planner_node ${catkin_LIBRARIES})
add_dependencies(local_planner_node ${PROJECT_NAME}_gencfg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} )
add_executable(custom_costmap_node src/custom_costmap_node.cpp)
target_link_libraries(custom_costmap_node ${catkin_LIBRARIES})
add_dependencies(custom_costmap_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(action_goal_interface_node src/action_goal_interface_node.cpp)
add_executable(goal_publisher_node src/goal_publisher.cpp)
target_link_libraries(goal_publisher_node ${catkin_LIBRARIES})
add_dependencies(goal_publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries( action_goal_interface_node
${catkin_LIBRARIES}
)
add_dependencies(action_goal_interface_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(hmi_fake src/hmi_fake.cpp)
target_link_libraries( hmi_fake
${catkin_LIBRARIES}
)
add_dependencies(hmi_fake ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})