Ego-planner/src

#cmake_minimum_required(VERSION 2.4.6) #include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) # Set the build type. Options are: # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage # Debug : w/ debug symbols, w/o optimization # Release : w/o debug symbols, w/ optimization # RelWithDebInfo : w/ debug symbols, w/ optimization # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries #set(ROS_BUILD_TYPE RelWithDebInfo) #rosbuild_init() #set the default path for built executables to the "bin" directory #set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) #set the default path for built libraries to the "lib" directory #set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) #uncomment if you have defined messages #rosbuild_genmsg() #uncomment if you have defined services #rosbuild_gensrv() #common commands for building c++ executables and libraries #rosbuild_add_library(${PROJECT_NAME} src/example.cpp) #target_link_libraries(${PROJECT_NAME} another_library) #rosbuild_add_boost_directories() #rosbuild_link_boost(${PROJECT_NAME} thread) #rosbuild_add_executable(example examples/example.cpp) #target_link_libraries(example ${PROJECT_NAME}) #list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake) #find_package(Eigen3 REQUIRED) #include_directories(${EIGEN3_INCLUDE_DIR}) #rosbuild_add_library(SO3Control src/SO3Control.cpp) #rosbuild_add_link_flags(SO3Control -Wl,--as-needed) #rosbuild_add_library(so3_control_nodelet src/so3_control_nodelet.cpp) #target_link_libraries(so3_control_nodelet SO3Control) #rosbuild_add_link_flags(so3_control_nodelet -Wl,--as-needed) #---------------------------------- cmake_minimum_required(VERSION 2.8.3) project(so3_control) set(CMAKE_BUILD_TYPE "Release") set(CMAKE_CXX_FLAGS "-std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## 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 roscpp nav_msgs quadrotor_msgs tf nodelet cmake_utils ) set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) ## 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 # MultiOccupancyGrid.msg # MultiSparseMap3D.msg # SparseMap3D.msg # VerticalOccupancyGridList.msg #plan_cmd.msg #) ## Generate services in the 'srv' folder # add_service_files( # FILES # Service1.srv # Service2.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 # nav_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 irobot_msgs # CATKIN_DEPENDS geometry_msgs nav_msgs # DEPENDS system_lib ) ########### ## Build ## ########### #find_package(Armadillo REQUIRED) #include_directories(${ARMADILLO_INCLUDE_DIRS}) find_package(Eigen3 REQUIRED) include_directories(${EIGEN3_INCLUDE_DIR}) ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories(include) include_directories( ${catkin_INCLUDE_DIRS} ) ## Declare a cpp library # add_library(irobot_msgs # src/${PROJECT_NAME}/irobot_msgs.cpp # ) ## Declare a cpp executable #add_executable(odom_visualization src/odom_visualization.cpp) add_library(SO3Control src/SO3Control.cpp) add_library(so3_control_nodelet src/so3_control_nodelet.cpp) target_link_libraries(so3_control_nodelet ${catkin_LIBRARIES} SO3Control ) add_executable(control_example src/control_example.cpp) target_link_libraries(control_example ${catkin_LIBRARIES} ) ## Add cmake target dependencies of the executable/library ## as an example, message headers may need to be generated before nodes # add_dependencies(multi_map_visualization multi_map_server_messages_cpp) ## Specify libraries to link a library or executable target against #target_link_libraries(odom_visualization # ${catkin_LIBRARIES} # ${ARMADILLO_LIBRARIES} # pose_utils #) ############# ## 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 irobot_msgs irobot_msgs_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_irobot_msgs.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif()