amcl.zip_ROS_ROS AMCL_amcl_zip

cmake_minimum_required(VERSION 2.8.3) project(amcl) find_package(catkin REQUIRED COMPONENTS message_filters rosbag roscpp std_srvs tf dynamic_reconfigure nav_msgs std_srvs ) find_package(Boost REQUIRED) # dynamic reconfigure generate_dynamic_reconfigure_options( cfg/AMCL.cfg ) catkin_package( CATKIN_DEPENDS rosbag roscpp dynamic_reconfigure tf CATKIN_DEPENDS nav_msgs std_srvs INCLUDE_DIRS include LIBRARIES amcl_sensors amcl_map amcl_pf ) include_directories(include) include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) add_library(amcl_pf src/amcl/pf/pf.c src/amcl/pf/pf_kdtree.c src/amcl/pf/pf_pdf.c src/amcl/pf/pf_vector.c src/amcl/pf/eig3.c src/amcl/pf/pf_draw.c) add_library(amcl_map src/amcl/map/map.c src/amcl/map/map_cspace.cpp src/amcl/map/map_range.c src/amcl/map/map_store.c src/amcl/map/map_draw.c) add_library(amcl_sensors src/amcl/sensors/amcl_sensor.cpp src/amcl/sensors/amcl_odom.cpp src/amcl/sensors/amcl_laser.cpp) target_link_libraries(amcl_sensors amcl_map amcl_pf) add_executable(amcl src/amcl_node.cpp) add_dependencies(amcl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) target_link_libraries(amcl amcl_sensors amcl_map amcl_pf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ) install( TARGETS amcl amcl_sensors amcl_map amcl_pf ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY include/amcl/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) install(DIRECTORY examples/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples ) ## Configure Tests if(CATKIN_ENABLE_TESTING) find_package(rostest REQUIRED) # Bags catkin_download_test_data(${PROJECT_NAME}_basic_localization_stage_indexed.bag http://download.ros.org/data/amcl/basic_localization_stage_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 41fe43af189ec71e5e48eb9ed661a655) catkin_download_test_data(${PROJECT_NAME}_global_localization_stage_indexed.bag http://download.ros.org/data/amcl/global_localization_stage_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 752f711cf4f6e8d1d660675e2da096b0) catkin_download_test_data(${PROJECT_NAME}_small_loop_prf_indexed.bag http://download.ros.org/data/amcl/small_loop_prf_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 e4ef0fc006872b43f12ed8a7ce7dcd81) catkin_download_test_data(${PROJECT_NAME}_small_loop_crazy_driving_prg_indexed.bag http://download.ros.org/data/amcl/small_loop_crazy_driving_prg_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 4a58d1a7962914009d99000d06e5939c) catkin_download_test_data(${PROJECT_NAME}_texas_greenroom_loop_indexed.bag http://download.ros.org/data/amcl/texas_greenroom_loop_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 6e3432115cccdca1247f6c807038e13d) catkin_download_test_data(${PROJECT_NAME}_texas_willow_hallway_loop_indexed.bag http://download.ros.org/data/amcl/texas_willow_hallway_loop_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 27deb742fdcd3af44cf446f39f2688a8) catkin_download_test_data(${PROJECT_NAME}_rosie_localization_stage.bag http://download.ros.org/data/amcl/rosie_localization_stage.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 3347bf3835724cfa45e958c5c1846066) # Maps catkin_download_test_data(${PROJECT_NAME}_willow-full.pgm http://download.ros.org/data/amcl/willow-full.pgm DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 b84465cdbbfe3e2fb9eb4579e0bcaf0e) catkin_download_test_data(${PROJECT_NAME}_willow-full-0.05.pgm http://download.ros.org/data/amcl/willow-full-0.05.pgm DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 b61694296e08965096c5e78611fd9765) # Tests add_rostest(test/set_initial_pose.xml) add_rostest(test/set_initial_pose_delayed.xml) add_rostest(test/basic_localization_stage.xml) add_rostest(test/small_loop_prf.xml) add_rostest(test/small_loop_crazy_driving_prg.xml) add_rostest(test/texas_greenroom_loop.xml) add_rostest(test/rosie_multilaser.xml) add_rostest(test/texas_willow_hallway_loop.xml) # Not sure when or if this actually passed. # # The point of this is that you start with an even probability # distribution over the whole map and the robot localizes itself after # some number of iterations of sensing and motion. # # add_rostest(test/global_localization_stage.xml) endif()