cmake_minimum_required(VERSION 2.8.3)
project(costmap_2d)
find_package(catkin REQUIRED
COMPONENTS
cmake_modules
dynamic_reconfigure
geometry_msgs
laser_geometry
map_msgs
message_filters
message_generation
nav_msgs
pcl_conversions
pcl_ros
pluginlib
roscpp
sensor_msgs
std_msgs
tf
visualization_msgs
voxel_grid
)
find_package(PCL REQUIRED)
remove_definitions(-DDISABLE_LIBUSB-1.0)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
add_definitions(${EIGEN3_DEFINITIONS})
# messages
add_message_files(
DIRECTORY msg
FILES
VoxelGrid.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
map_msgs
)
# dynamic reconfigure
generate_dynamic_reconfigure_options(
cfg/Costmap2D.cfg
cfg/ObstaclePlugin.cfg
cfg/GenericPlugin.cfg
cfg/InflationPlugin.cfg
cfg/VoxelPlugin.cfg
)
catkin_package(
INCLUDE_DIRS
include
${EIGEN3_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
LIBRARIES costmap_2d layers
CATKIN_DEPENDS
dynamic_reconfigure
geometry_msgs
laser_geometry
map_msgs
message_filters
message_runtime
nav_msgs
pcl_ros
pluginlib
roscpp
sensor_msgs
std_msgs
tf
visualization_msgs
voxel_grid
DEPENDS
PCL
EIGEN3
Boost
)
add_library(costmap_2d
src/array_parser.cpp
src/costmap_2d.cpp
src/observation_buffer.cpp
src/layer.cpp
src/layered_costmap.cpp
src/costmap_2d_ros.cpp
src/costmap_2d_publisher.cpp
src/costmap_math.cpp
src/footprint.cpp
src/costmap_layer.cpp
)
add_dependencies(costmap_2d geometry_msgs_generate_messages_cpp)
target_link_libraries(costmap_2d
${PCL_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
add_library(layers
plugins/inflation_layer.cpp
plugins/obstacle_layer.cpp
plugins/static_layer.cpp
plugins/voxel_layer.cpp
src/observation_buffer.cpp
)
target_link_libraries(layers
costmap_2d
)
add_dependencies(costmap_2d costmap_2d_gencfg)
add_dependencies(layers costmap_2d_gencfg)
add_dependencies(costmap_2d costmap_2d_generate_messages_cpp)
add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
add_dependencies(costmap_2d_markers visualization_msgs_generate_messages_cpp)
target_link_libraries(costmap_2d_markers
costmap_2d
)
add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
add_dependencies(costmap_2d_cloud sensor_msgs_generate_messages_cpp)
target_link_libraries(costmap_2d_cloud
costmap_2d
)
add_executable(costmap_2d_node src/costmap_2d_node.cpp)
target_link_libraries(costmap_2d_node
costmap_2d
)
## Configure Tests
if(CATKIN_ENABLE_TESTING)
# Find package test dependencies
find_package(rostest REQUIRED)
# Add the test folder to the include directories
include_directories(test)
include_directories(${GTEST_INCLUDE_DIRS})
link_directories(${GTEST_LIBRARY_DIRS})
# Create targets for test executables
add_executable(costmap_tester EXCLUDE_FROM_ALL test/costmap_tester.cpp)
add_dependencies(tests costmap_tester)
target_link_libraries(costmap_tester costmap_2d ${GTEST_LIBRARIES})
add_executable(footprint_tests EXCLUDE_FROM_ALL test/footprint_tests.cpp)
add_dependencies(tests footprint_tests)
target_link_libraries(footprint_tests costmap_2d ${GTEST_LIBRARIES})
add_executable(obstacle_tests EXCLUDE_FROM_ALL test/obstacle_tests.cpp)
add_dependencies(tests obstacle_tests)
target_link_libraries(obstacle_tests costmap_2d layers ${GTEST_LIBRARIES})
add_executable(static_tests EXCLUDE_FROM_ALL test/static_tests.cpp)
add_dependencies(tests static_tests)
target_link_libraries(static_tests costmap_2d layers ${GTEST_LIBRARIES})
add_executable(inflation_tests EXCLUDE_FROM_ALL test/inflation_tests.cpp)
add_dependencies(tests inflation_tests)
target_link_libraries(inflation_tests costmap_2d layers ${GTEST_LIBRARIES})
catkin_download_test_data(${PROJECT_NAME}_simple_driving_test_indexed.bag
http://download.ros.org/data/costmap_2d/simple_driving_test_indexed.bag
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
MD5 61168cff9425b11e093ea3a627c81c8d)
catkin_download_test_data(${PROJECT_NAME}_willow-full-0.025.pgm
http://download.ros.org/data/costmap_2d/willow-full-0.025.pgm
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
MD5 e66b17ee374f2d7657972efcb3e2e4f7)
add_rostest(test/footprint_tests.launch)
add_rostest(test/inflation_tests.launch)
add_rostest(test/obstacle_tests.launch)
add_rostest(test/simple_driving_test.xml)
add_rostest(test/static_tests.launch)
catkin_add_gtest(array_parser_test test/array_parser_test.cpp)
target_link_libraries(array_parser_test costmap_2d)
endif()
install( TARGETS
costmap_2d_markers
costmap_2d_cloud
costmap_2d_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS
costmap_2d
layers
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES costmap_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE
)
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navigation-kinetic-devel.rar_kinetic_ros导航_ros算法_路径规划ros (322个子文件)
testmap.bmp 374B
pf.c 16KB
pf_kdtree.c 12KB
pf_vector.c 5KB
eig3.c 5KB
pf_pdf.c 5KB
map_store.c 5KB
pf_draw.c 4KB
map_draw.c 4KB
map_range.c 3KB
map.c 2KB
AMCL.cfg 6KB
BaseLocalPlanner.cfg 4KB
DWAPlanner.cfg 3KB
MoveBase.cfg 2KB
Costmap2D.cfg 2KB
VoxelPlugin.cfg 1KB
ObstaclePlugin.cfg 1KB
GlobalPlanner.cfg 1KB
InflationPlugin.cfg 534B
LocalPlannerLimits.cfg 309B
GenericPlugin.cfg 276B
amcl_node.cpp 49KB
move_base.cpp 44KB
trajectory_planner.cpp 35KB
module_tests.cpp 35KB
navfn.cpp 28KB
trajectory_planner_ros.cpp 25KB
point_grid.cpp 22KB
obstacle_layer.cpp 21KB
odom_estimation_node.cpp 19KB
costmap_2d_ros.cpp 18KB
odom_estimation.cpp 16KB
planner_core.cpp 16KB
navfn_ros.cpp 16KB
voxel_layer.cpp 15KB
dwa_planner.cpp 15KB
inflation_tests.cpp 14KB
amcl_laser.cpp 14KB
costmap_2d.cpp 13KB
inflation_layer.cpp 12KB
amcl_odom.cpp 11KB
dwa_planner_ros.cpp 11KB
static_tests.cpp 11KB
footprint.cpp 11KB
map_grid.cpp 11KB
simple_trajectory_generator.cpp 11KB
static_layer.cpp 11KB
goal_functions.cpp 11KB
voxel_grid_model.cpp 10KB
latched_stop_rotate_controller.cpp 10KB
observation_buffer.cpp 10KB
gradient_path.cpp 10KB
fake_localization.cpp 9KB
move_slow_and_clear.cpp 9KB
obstacle_tests.cpp 8KB
main.cpp 8KB
footprint_helper.cpp 8KB
utest.cpp 8KB
dijkstra.cpp 8KB
voxel_grid.cpp 7KB
navtest.cpp 7KB
costmap_2d_cloud.cpp 7KB
carrot_planner.cpp 6KB
costmap_tester.cpp 6KB
test_robot_pose_ekf.cpp 6KB
clear_costmap_recovery.cpp 6KB
footprint_tests.cpp 6KB
costmap_2d_publisher.cpp 6KB
map_cspace.cpp 6KB
layered_costmap.cpp 6KB
rotate_recovery.cpp 6KB
oscillation_cost_function.cpp 5KB
simple_scored_sampling_planner.cpp 5KB
velocity_iterator_test.cpp 5KB
image_loader.cpp 5KB
costmap_2d_markers.cpp 5KB
costmap_model.cpp 5KB
voxel_grid_tests.cpp 5KB
rtest.cpp 5KB
map_saver.cpp 5KB
obstacle_cost_function.cpp 5KB
navwin.cpp 5KB
footprint_helper_test.cpp 5KB
map_grid_test.cpp 5KB
plan_node.cpp 4KB
path_calc_test.cpp 4KB
map_grid_cost_function.cpp 4KB
orientation_filter.cpp 4KB
navfn_node.cpp 4KB
local_planner_util.cpp 4KB
utest.cpp 4KB
read_pgm_costmap.cpp 4KB
odometry_helper_ros.cpp 4KB
astar.cpp 4KB
costmap_layer.cpp 4KB
map_grid_visualizer.cpp 4KB
array_parser.cpp 3KB
grid_path.cpp 3KB
clear_tester.cpp 3KB
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