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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(project11_navigation)
set(CMAKE_CXX_STANDARD 17)
find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
behaviortree_cpp
costmap_2d
dubins_curves
genmsg
geometry_msgs
grid_map_ros
nav_core
pluginlib
project11_nav_msgs
roscpp
rospy
std_msgs
tf2
visualization_msgs
)
catkin_python_setup()
add_action_files(DIRECTORY action FILES RunTasks.action)
generate_messages(DEPENDENCIES actionlib_msgs project11_nav_msgs)
catkin_package(
INCLUDE_DIRS include
LIBRARIES project11_navigation
CATKIN_DEPENDS actionlib actionlib_msgs behaviortree_cpp costmap_2d dubins_curves geometry_msgs grid_map_ros nav_core pluginlib project11_nav_msgs roscpp rospy std_msgs tf2 visualization_msgs yaml-cpp
# DEPENDS system_lib
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
set(NAVIGATOR_LIB_SOURCES
src/context.cpp
src/environment.cpp
src/occupancy_grid.cpp
src/platform.cpp
src/robot_capabilities.cpp
src/task.cpp
src/task_list.cpp
src/utilities.cpp
)
add_library(project11_navigation ${NAVIGATOR_LIB_SOURCES})
add_dependencies(project11_navigation ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(project11_navigation ${catkin_LIBRARIES} yaml-cpp)
set(NAVIGATOR_SOURCES
src/bt_types.cpp
src/main.cpp
src/navigator.cpp
src/robot.cpp
src/actions/multibeam_coverage_action.cpp
)
add_executable(navigator ${NAVIGATOR_SOURCES})
add_dependencies(navigator ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(navigator
project11_navigation
${catkin_LIBRARIES}
)
set(BT_PLUGIN_SOURCES
src/actions/adjust_path.cpp
src/actions/baxevani_controller.cpp
src/actions/clear_path.cpp
src/actions/crabbing_path_follower.cpp
src/actions/debug_blackboard.cpp
src/actions/generate_plan.cpp
src/actions/get_task_data_double.cpp
src/actions/get_task_data_string.cpp
src/actions/get_sub_tasks.cpp
src/actions/hover.cpp
src/actions/multibeam_coverage_action.cpp
src/actions/navigator_settings_loader.cpp
src/actions/predict_stopping_pose.cpp
src/actions/robot_capabilities_loader.cpp
src/actions/set_pose_from_task.cpp
src/actions/set_task_done.cpp
src/actions/set_trajectory_from_task.cpp
src/actions/task_list_updater.cpp
src/actions/update_current_segment.cpp
src/actions/update_current_task.cpp
src/actions/update_state.cpp
src/actions/visualize_trajectory.cpp
src/conditions/all_tasks_done.cpp
src/conditions/goal_reached.cpp
src/conditions/plan_needed.cpp
src/register_behavior_tree_nodes.cpp
)
add_library(project11_navigation_bt_plugins SHARED ${BT_PLUGIN_SOURCES})
target_link_libraries(project11_navigation_bt_plugins PRIVATE ${BTCPP_LIBRARY} ${catkin_LIBRARIES})
target_compile_definitions(project11_navigation_bt_plugins PRIVATE BT_PLUGIN_EXPORT )
add_dependencies(project11_navigation_bt_plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(occupancy_vector_map_from_geo src/tools/occupancy_vector_map_from_geo.cpp)
target_link_libraries(occupancy_vector_map_from_geo ${catkin_LIBRARIES})
add_dependencies(occupancy_vector_map_from_geo ${catkin_EXPORTED_TARGETS})
add_executable(occupancy_grid_from_vector_map src/tools/occupancy_grid_from_vector_map.cpp)
target_link_libraries(occupancy_grid_from_vector_map ${catkin_LIBRARIES})
add_dependencies(occupancy_grid_from_vector_map ${catkin_EXPORTED_TARGETS})
install(TARGETS navigator project11_navigation project11_navigation_bt_plugins occupancy_vector_map_from_geo occupancy_grid_from_vector_map
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(FILES plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)