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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(social_force_window_planner)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Werror)
endif()
#set(CMAKE_INCLUDE_CURRENT_DIR ON)
#set(CMAKE_AUTOMOC ON)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(people_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(angles REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(pluginlib REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(message_filters REQUIRED)
nav2_package()
include_directories(
/usr/local/include #to find lightsfm, just in case
include
)
set(dependencies
nav2_core
tf2_ros
angles
rclcpp
geometry_msgs
people_msgs
nav2_costmap_2d
pluginlib
nav2_msgs
nav2_util
nav2_core
tf2
tf2_geometry_msgs
message_filters
)
# The lines below will deal with differences between ROS distributions:
if(TARGET tf2_geometry_msgs::tf2_geometry_msgs)
get_target_property(_include_dirs tf2_geometry_msgs::tf2_geometry_msgs INTERFACE_INCLUDE_DIRECTORIES)
else()
set(_include_dirs ${tf2_geometry_msgs_INCLUDE_DIRS})
endif()
find_file(TF2_CPP_HEADERS
NAMES tf2_geometry_msgs.hpp
PATHS ${_include_dirs}
NO_CACHE
PATH_SUFFIXES tf2_geometry_msgs
)
set(library_name ${PROJECT_NAME})
add_library(${library_name} SHARED
src/costmap_model.cpp
#src/goal_functions.cpp
#src/odometry_helper_ros.cpp
src/sensor_interface.cpp
src/sfw_planner_node.cpp
src/sfw_planner.cpp
src/trajectory.cpp
)
# prevent pluginlib from using boost
target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
ament_target_dependencies(${library_name}
${dependencies}
)
if(EXISTS ${TF2_CPP_HEADERS})
target_compile_definitions(${library_name} PUBLIC -DTF2_CPP_HEADERS)
endif()
install(TARGETS ${library_name}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/
DESTINATION include)
ament_export_include_directories(include)
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})
ament_export_definitions("PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(nav2_core sfw_plugin.xml)
ament_package()