cmake_minimum_required(VERSION 2.8.3)
project(global_planner)
find_package(catkin REQUIRED
COMPONENTS
angles
costmap_2d
dynamic_reconfigure
geometry_msgs
nav_core
navfn
nav_msgs
pluginlib
roscpp
tf2_geometry_msgs
tf2_ros
)
generate_dynamic_reconfigure_options(
cfg/GlobalPlanner.cfg
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
costmap_2d
dynamic_reconfigure
geometry_msgs
nav_core
navfn
nav_msgs
pluginlib
roscpp
tf2_ros
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME}
src/quadratic_calculator.cpp
src/dijkstra.cpp
src/astar.cpp
src/grid_path.cpp
src/gradient_path.cpp
src/orientation_filter.cpp
src/planner_core.cpp
src/potential_calculator.cpp
src/expander.cpp
src/traceback.cpp
)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
add_executable(planner
src/plan_node.cpp
)
add_dependencies(planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(planner
${PROJECT_NAME}
${catkin_LIBRARIES}
)
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(TARGETS planner
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE)
install(FILES bgp_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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ROS改进全局路径规划插件
共26个文件
cpp:11个
h:10个
xml:2个
需积分: 0 20 下载量 198 浏览量
2023-03-29
10:34:47
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改进了a*算法,提高了转折点角度平滑
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收起资源包目录
ROS 改进A插件.zip (26个子文件)
ROS 改进A插件
bgp_plugin.xml 296B
include
global_planner
quadratic_calculator.h 2KB
planner_core.h 10KB
orientation_filter.h 3KB
potential_calculator.h 3KB
grid_path.h 2KB
expander.h 4KB
traceback.h 3KB
astar.h 3KB
gradient_path.h 3KB
dijkstra.h 5KB
CMakeLists.txt 2KB
CHANGELOG.rst 6KB
src
traceback.cpp 193B
dijkstra.cpp 9KB
planner_core.cpp 24KB
astar.cpp 4KB
expander.cpp 821B
orientation_filter.cpp 5KB
gradient_path.cpp 9KB
potential_calculator.cpp 687B
grid_path.cpp 3KB
plan_node.cpp 4KB
quadratic_calculator.cpp 3KB
package.xml 1KB
cfg
GlobalPlanner.cfg 2KB
共 26 条
- 1
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