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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(costmap_2d)
find_package(catkin REQUIRED
COMPONENTS
cmake_modules
dynamic_reconfigure
geometry_msgs
laser_geometry
map_msgs
message_filters
message_generation
nav_msgs
pcl_conversions
pcl_ros
pluginlib
roscpp
sensor_msgs
std_msgs
tf
voxel_grid
)
find_package(PCL REQUIRED)
find_package(Eigen REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
add_definitions(${EIGEN_DEFINITIONS})
# messages
add_message_files(
DIRECTORY msg
FILES
VoxelGrid.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
map_msgs
)
# dynamic reconfigure
generate_dynamic_reconfigure_options(
cfg/Costmap2D.cfg
cfg/ObstaclePlugin.cfg
cfg/GenericPlugin.cfg
cfg/InflationPlugin.cfg
cfg/VoxelPlugin.cfg
)
catkin_package(
INCLUDE_DIRS
include
${EIGEN_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
LIBRARIES costmap_2d layers
CATKIN_DEPENDS
dynamic_reconfigure
geometry_msgs
laser_geometry
map_msgs
message_filters
message_runtime
nav_msgs
pcl_ros
pluginlib
roscpp
sensor_msgs
std_msgs
tf
voxel_grid
DEPENDS
PCL
Eigen
Boost
)
add_library(costmap_2d
src/array_parser.cpp
src/costmap_2d.cpp
src/observation_buffer.cpp
src/layer.cpp
src/layered_costmap.cpp
src/costmap_2d_ros.cpp
src/costmap_2d_publisher.cpp
src/costmap_math.cpp
src/footprint.cpp
src/costmap_layer.cpp
)
add_dependencies(costmap_2d geometry_msgs_gencpp)
target_link_libraries(costmap_2d
${PCL_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
add_library(layers
plugins/footprint_layer.cpp
plugins/inflation_layer.cpp
plugins/obstacle_layer.cpp
plugins/static_layer.cpp
plugins/voxel_layer.cpp
src/observation_buffer.cpp
)
target_link_libraries(layers
costmap_2d
)
add_dependencies(costmap_2d costmap_2d_gencfg)
add_dependencies(layers costmap_2d_gencfg)
add_dependencies(costmap_2d costmap_2d_gencpp)
add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
add_dependencies(costmap_2d_markers visualization_msgs_gencpp)
target_link_libraries(costmap_2d_markers
costmap_2d
)
add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
add_dependencies(costmap_2d_cloud sensor_msgs_gencpp)
target_link_libraries(costmap_2d_cloud
costmap_2d
)
add_executable(costmap_2d_node src/costmap_2d_node.cpp)
target_link_libraries(costmap_2d_node
costmap_2d
)
## Configure Tests
if(CATKIN_ENABLE_TESTING)
# Find package test dependencies
find_package(rostest REQUIRED)
# Add the test folder to the include directories
include_directories(test)
include_directories(${GTEST_INCLUDE_DIRS})
link_directories(${GTEST_LIBRARY_DIRS})
# Create targets for test executables
add_executable(costmap_tester EXCLUDE_FROM_ALL test/costmap_tester.cpp)
add_dependencies(tests costmap_tester)
target_link_libraries(costmap_tester costmap_2d ${GTEST_LIBRARIES})
add_executable(footprint_tests EXCLUDE_FROM_ALL test/footprint_tests.cpp)
add_dependencies(tests footprint_tests)
target_link_libraries(footprint_tests costmap_2d ${GTEST_LIBRARIES})
add_executable(obstacle_tests EXCLUDE_FROM_ALL test/obstacle_tests.cpp)
add_dependencies(tests obstacle_tests)
target_link_libraries(obstacle_tests costmap_2d layers ${GTEST_LIBRARIES})
add_executable(static_tests EXCLUDE_FROM_ALL test/static_tests.cpp)
add_dependencies(tests static_tests)
target_link_libraries(static_tests costmap_2d layers ${GTEST_LIBRARIES})
add_executable(inflation_tests EXCLUDE_FROM_ALL test/inflation_tests.cpp)
add_dependencies(tests inflation_tests)
target_link_libraries(inflation_tests costmap_2d layers ${GTEST_LIBRARIES})
catkin_download_test_data(${PROJECT_NAME}_simple_driving_test_indexed.bag
http://download.ros.org/data/costmap_2d/simple_driving_test_indexed.bag
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
MD5 61168cff9425b11e093ea3a627c81c8d)
catkin_download_test_data(${PROJECT_NAME}_willow-full-0.025.pgm
http://download.ros.org/data/costmap_2d/willow-full-0.025.pgm
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
MD5 e66b17ee374f2d7657972efcb3e2e4f7)
add_rostest(test/footprint_tests.launch)
add_rostest(test/inflation_tests.launch)
add_rostest(test/obstacle_tests.launch)
add_rostest(test/simple_driving_test.xml)
add_rostest(test/static_tests.launch)
catkin_add_gtest(array_parser_test test/array_parser_test.cpp)
target_link_libraries(array_parser_test costmap_2d)
endif()
install( TARGETS
costmap_2d_markers
costmap_2d_cloud
costmap_2d_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS
costmap_2d
layers
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES costmap_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE
)