CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(ugv_3d_navigation)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  message_generation
  actionlib
  eigen
  geometry_msgs
  interactive_markers
  libnabo
  libpointmatcher
  libpointmatcher_ros
  map_msgs
  move_base_msgs
  nav_msgs
  pcl_ros
  roscpp
  sensor_msgs
  std_msgs
  tf
  visualization_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS filesystem system)
# look for yaml-cpp library
#find_path(yaml-cpp_INCLUDE_DIRS yaml-cpp/yaml.h
#	/usr/local/include
#	/usr/include
#)
#find_library(yaml-cpp_LIBRARIES yaml-cpp PATHS
#	/usr/local/lib
#	/usr/lib
#NO_DEFAULT_PATH)
#if (yaml-cpp_INCLUDE_DIRS AND yaml-cpp_LIBRARIES)
#	include_directories(${yaml-cpp_INCLUDE_DIRS})
#	#set(EXTRA_LIBS ${EXTRA_LIBS} ${yaml-cpp_LIBRARIES})
#	add_definitions(-DHAVE_YAML_CPP)
#endif (yaml-cpp_INCLUDE_DIRS AND yaml-cpp_LIBRARIES)


# c++ 0x
#if("${CMAKE_CXX_COMPILER_ID}" MATCHES "clang") 
#	set(CMAKE_COMPILER_IS_CLANGXX)
#endif ("${CMAKE_CXX_COMPILER_ID}" MATCHES "clang")
if(CMAKE_COMPILER_IS_GNUCXX)
	execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
	if (GCC_VERSION VERSION_GREATER 4.4 OR GCC_VERSION VERSION_EQUAL 4.4)
		add_definitions(-std=gnu++0x)
	else (GCC_VERSION VERSION_GREATER 4.4 OR GCC_VERSION VERSION_EQUAL 4.4)
		message(SEND_ERROR "You need GCC version 4.4 or greater to compile this library")
	endif (GCC_VERSION VERSION_GREATER 4.4 OR GCC_VERSION VERSION_EQUAL 4.4)
else(CMAKE_COMPILER_IS_GNUCXX)
		add_definitions(-std=gnu++0x)
	#	message(SEND_ERROR "You need partial C++0x support for N2351, N2672, N1984. Currently this build toolchain supports only GCC >= 4.4. If your compiler supports these specifications, please send us a patch.")
endif(CMAKE_COMPILER_IS_GNUCXX)
# well, this breaks libpointmatcher on non-unix platform,
# please contribute the define for your favorite compiler
# It must support (compiler support in parenthesis):
# - N2351: shared pointers in standard
# - N2672: Initializer lists (gcc)
# - N1984: auto-typed variables (gcc, clang)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
add_service_files(
  FILES
  CallGlobalMap.srv
  ComputePlan.srv
  ConfirmGoal.srv
  ConfirmGoalStamped.srv
  ExecutePlan.srv
  Serialization.srv
)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  geometry_msgs
  std_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES ugv_3d_navigation
  CATKIN_DEPENDS message_runtime actionlib geometry_msgs interactive_markers libnabo libpointmatcher libpointmatcher_ros map_msgs move_base_msgs nav_msgs pcl_ros roscpp sensor_msgs std_msgs tf visualization_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(ugv_3d_navigation
#   src/${PROJECT_NAME}/ugv_3d_navigation.cpp
# )

## Declare a cpp executable
add_executable(goal_interact_marker src/goalInteractMarker.cpp)

add_executable(ugv_nav_static src/ugv_nav_static.cpp
  src/TensorMap.cpp src/tensorUtils.cpp src/GenericSearch.cpp
  src/DStarLite.cpp src/LocalPlanner.cpp src/trp_params.cpp src/MyTimer.cpp)

#add_executable(trp_batch src/trp_batch.cpp
#  src/TensorMap.cpp src/tensorUtils.cpp src/GenericSearch.cpp
#  src/DStarLite.cpp src/PathExecution.cpp src/trp_params.cpp src/MyTimer.cpp)

#add_executable(trpb_viz src/trpb_viz.cpp src/tensorUtils.cpp)

#add_executable(input_viz src/input_viz.cpp src/tensorUtils.cpp)

add_executable(dist_filter_eval src/dist_filter.cpp src/tensorUtils.cpp)


## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(goal_interact_marker ugv_3d_navigation_generate_messages_cpp)
add_dependencies(ugv_nav_static ugv_3d_navigation_generate_messages_cpp)
#add_dependencies(trp_batch ugv_3d_navigation_generate_messages_cpp)
#add_dependencies(trpb_viz ugv_3d_navigation_generate_messages_cpp)
#add_dependencies(input_viz ugv_3d_navigation_generate_messages_cpp)
add_dependencies(dist_filter_eval ugv_3d_navigation_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(goal_interact_marker
  ${catkin_LIBRARIES}
)
target_link_libraries(ugv_nav_static
  ${catkin_LIBRARIES}
)
#target_link_libraries(trp_batch
#  ${catkin_LIBRARIES}
#)
#target_link_libraries(trpb_viz
#  ${catkin_LIBRARIES}
#)
#target_link_libraries(input_viz
#  ${catkin_LIBRARIES}
#)
target_link_libraries(dist_filter_eval
  ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ugv_3d_navigation ugv_3d_navigation_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ugv_3d_navigation.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)