-
Notifications
You must be signed in to change notification settings - Fork 9
/
Copy pathCMakeLists.txt
168 lines (144 loc) · 4.46 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
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
cmake_minimum_required(VERSION 2.8.3)
project(vizzy_navigation)
set(CMAKE_BUILD_TYPE RELEASE)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED
COMPONENTS
roscpp
sensor_msgs
vizzy_msgs
geometry_msgs
dynamic_reconfigure
tf
tf2
tf2_ros
tf2_msgs
tf2_sensor_msgs
interactive_markers
visualization_msgs
eigen_conversions
rospy
actionlib_msgs
costmap_2d)
#add dynamic reconfigure api
generate_dynamic_reconfigure_options(
cfg/Docking.cfg
cfg/Mapless.cfg
)
find_package(yaml-cpp)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
find_package(Boost)
if (${Boost_FOUND})
message(STATUS "Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}")
message(STATUS "Boost_LIBRARY_DIRS: ${Boost_LIBRARY_DIRS}")
message(STATUS "Boost_LIBRARIES: ${Boost_LIBRARY_DIRS}")
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
endif(${Boost_FOUND})
find_package(Eigen3 REQUIRED)
if (${EIGEN3_FOUND})
include_directories(${EIGEN3_INCLUDE_DIR})
message(STATUS "EIGEN3_INCLUDE_DIR: ${EIGEN3_INCLUDE_DIR}")
else(${EIGEN3_FOUND})
message(WARNING "Cannot find Eigen3 Library")
endif(${EIGEN3_FOUND})
#add_action_files(
# DIRECTORY action
# FILES Charge.action
#)
generate_messages(
DEPENDENCIES actionlib_msgs std_msgs geometry_msgs # Or other packages containing msgs
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES falkolib
CATKIN_DEPENDS
sensor_msgs
geometry_msgs
roscpp
dynamic_reconfigure
actionlib_msgs
std_msgs
geometry_msgs
rospy
costmap_2d
)
include_directories(
include
${catkin_INCLUDE_DIRS}
falkolib/include
falkolib/EXTERNAL
)
## Declare a C++ library
add_library(falkolib
falkolib/src/Common/HoughSpectrum.cpp
falkolib/src/Feature/FALKOExtractor.cpp
falkolib/src/Feature/OCExtractor.cpp
falkolib/src/Feature/CGH.cpp
falkolib/src/Feature/BSC.cpp
falkolib/EXTERNAL/mcqd/mcqd.cpp
)
## Declare a cpp executable
add_executable(teleop_joy_node src/teleop_joy.cpp)
target_link_libraries(teleop_joy_node
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
#add_executable(reroute_twist2nav2d_node src/twist2nav2d.cpp)
#target_link_libraries(reroute_twist2nav2d_node
# ${Boost_LIBRARIES}
# ${catkin_LIBRARIES}
#)
#add_dependencies(reroute_twist2nav2d_node vizzy_msgs_generate_messages_cpp vizzy_navigation_generate_messages_cpp ${PROJECT_NAME}_gencfg ${vizzy_navigation_EXPORTED_TARGETS})
add_executable(docking_controller src/docking_controller.cpp src/docking_controller_ros.cpp src/docking_controller_node.cpp)
target_link_libraries(docking_controller
${Boost_LIBRARIES}
${catkin_LIBRARIES}
falkolib
)
add_dependencies(docking_controller ${PROJECT_NAME}_gencfg ${vizzy_navigation_EXPORTED_TARGETS})
add_executable(docking_learner src/docking_learner.cpp src/docking_learner_node.cpp src/falko_database.cpp)
target_link_libraries(docking_learner
${Boost_LIBRARIES}
${catkin_LIBRARIES}
falkolib
yaml-cpp
)
add_executable(docking_estimator src/docking_estimator.cpp src/docking_estimator_node.cpp src/falko_database.cpp src/pattern_pose_estimation.cpp)
target_link_libraries(docking_estimator
${Boost_LIBRARIES}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
falkolib
yaml-cpp
)
add_executable(charging_action_server src/charging_action_server.cpp src/charging_action_server_node.cpp src/docking_estimator.cpp src/falko_database.cpp src/pattern_pose_estimation.cpp src/docking_controller.cpp src/docking_controller_ros.cpp)
target_link_libraries(charging_action_server
${Boost_LIBRARIES}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
falkolib
yaml-cpp
)
add_dependencies(charging_action_server vizzy_msgs_generate_messages_cpp)
add_executable(mapless_nav_node
src/mapless_nav_node.cpp
src/mapless_navigator.cpp
src/controller.cpp
src/obstacle_avoidance.cpp)
target_link_libraries(mapless_nav_node ${catkin_LIBRARIES})
foreach(dir config launch rviz)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach()
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(launch/amcl.launch)
roslaunch_add_file_check(launch/amcl_simulation.launch)
roslaunch_add_file_check(launch/gmapping.launch)
roslaunch_add_file_check(launch/mbf_navigation_local.launch)
roslaunch_add_file_check(launch/docking_action_server.launch)
## launch/navigation.launch not tested until
## ros-drivers/openni_launch#10 is fixed.
endif ()