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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(amcl)
# Default to C11
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 11)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra)
endif()
find_package(ament_cmake_auto REQUIRED)
find_package(ament_cmake_ros REQUIRED)
set(required_dependencies
"geometry_msgs"
"nav_msgs"
"rclcpp"
"rcutils"
"sensor_msgs"
"std_srvs"
"tf2"
"tf2_geometry_msgs"
"tf2_msgs"
"tf2_ros"
)
ament_auto_find_build_dependencies(REQUIRED ${required_dependencies})
# dynamic reconfigure
# generate_dynamic_reconfigure_options(
# cfg/AMCL.cfg
# )
include_directories(include/amcl include/amcl/map include/amcl/sensors include/amcl/pf)
ament_auto_add_library(amcl_pf
src/amcl/pf/pf.c
src/amcl/pf/pf_kdtree.c
src/amcl/pf/pf_pdf.c
src/amcl/pf/pf_vector.c
src/amcl/pf/eig3.c
src/amcl/pf/pf_draw.c)
ament_auto_add_library(amcl_map
src/amcl/map/map.c
src/amcl/map/map_cspace.cpp
src/amcl/map/map_range.c
src/amcl/map/map_store.c
src/amcl/map/map_draw.c)
ament_target_dependencies(amcl_map)
ament_auto_add_library(amcl_sensors
src/amcl/sensors/amcl_sensor.cpp
src/amcl/sensors/amcl_odom.cpp
src/amcl/sensors/amcl_laser.cpp)
ament_auto_add_executable(amcl
src/amcl_node.cpp)
# add_dependencies(amcl amcl_gencfg)
ament_target_dependencies(amcl
"geometry_msgs"
"nav_msgs"
"rclcpp"
"sensor_msgs"
"std_srvs"
"tf2"
"tf2_geometry_msgs"
"tf2_msgs"
"tf2_ros")
target_link_libraries(amcl
amcl_sensors amcl_map amcl_pf
)
install(DIRECTORY examples/
DESTINATION share/${PROJECT_NAME}/examples
)
## Configure Tests
#if(CATKIN_ENABLE_TESTING)
# find_package(rostest REQUIRED)
#
# # Bags
# catkin_download_test_data(${PROJECT_NAME}_basic_localization_stage_indexed.bag
# http://download.ros.org/data/amcl/basic_localization_stage_indexed.bag
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 41fe43af189ec71e5e48eb9ed661a655)
# catkin_download_test_data(${PROJECT_NAME}_global_localization_stage_indexed.bag
# http://download.ros.org/data/amcl/global_localization_stage_indexed.bag
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 752f711cf4f6e8d1d660675e2da096b0)
# catkin_download_test_data(${PROJECT_NAME}_small_loop_prf_indexed.bag
# http://download.ros.org/data/amcl/small_loop_prf_indexed.bag
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 e4ef0fc006872b43f12ed8a7ce7dcd81)
# catkin_download_test_data(${PROJECT_NAME}_small_loop_crazy_driving_prg_indexed.bag
# http://download.ros.org/data/amcl/small_loop_crazy_driving_prg_indexed.bag
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 4a58d1a7962914009d99000d06e5939c)
# catkin_download_test_data(${PROJECT_NAME}_texas_greenroom_loop_indexed.bag
# http://download.ros.org/data/amcl/texas_greenroom_loop_indexed.bag
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 6e3432115cccdca1247f6c807038e13d)
# catkin_download_test_data(${PROJECT_NAME}_texas_willow_hallway_loop_indexed.bag
# http://download.ros.org/data/amcl/texas_willow_hallway_loop_indexed.bag
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 27deb742fdcd3af44cf446f39f2688a8)
# catkin_download_test_data(${PROJECT_NAME}_rosie_localization_stage.bag
# http://download.ros.org/data/amcl/rosie_localization_stage.bag
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 3347bf3835724cfa45e958c5c1846066)
#
# # Maps
# catkin_download_test_data(${PROJECT_NAME}_willow-full.pgm
# http://download.ros.org/data/amcl/willow-full.pgm
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 b84465cdbbfe3e2fb9eb4579e0bcaf0e)
# catkin_download_test_data(${PROJECT_NAME}_willow-full-0.05.pgm
# http://download.ros.org/data/amcl/willow-full-0.05.pgm
# DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
# MD5 b61694296e08965096c5e78611fd9765)
#
# # Tests
# add_rostest(test/set_initial_pose.xml)
# add_rostest(test/set_initial_pose_delayed.xml)
# add_rostest(test/basic_localization_stage.xml)
# add_rostest(test/small_loop_prf.xml)
# add_rostest(test/small_loop_crazy_driving_prg.xml)
# add_rostest(test/texas_greenroom_loop.xml)
# add_rostest(test/rosie_multilaser.xml)
# add_rostest(test/texas_willow_hallway_loop.xml)
#
## Not sure when or if this actually passed.
##
## The point of this is that you start with an even probability
## distribution over the whole map and the robot localizes itself after
## some number of iterations of sensing and motion.
##
## add_rostest(test/global_localization_stage.xml)
#endif()
ament_auto_package()