智能车项目基于C++在ROS中实现A星三维路径规划源码+使用说明.zip

cmake_minimum_required(VERSION 2.8.3) project(rviz_plugins) ## 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 rviz #multi_map_server roscpp ) ################################### ## 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 #multi_map_server # DEPENDS system_lib ) ########### ## Build ## ########### #find_package(Armadillo REQUIRED) #include_directories(${ARMADILLO_INCLUDE_DIRS}) ## This plugin includes Qt widgets, so we must include Qt like so: #find_package(Qt5 COMPONENTS QtCore QtGui REQUIRED) if(rviz_QT_VERSION VERSION_LESS "5") message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) ## pull in all required include dirs, define QT_LIBRARIES, etc. include(${QT_USE_FILE}) else() message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies set(QT_LIBRARIES Qt5::Widgets) endif() ## I prefer the Qt signals and slots to avoid defining "emit", "slots", ## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here. add_definitions(-DQT_NO_KEYWORDS) ## Here we specify which header files need to be run through "moc", ## Qt's meta-object compiler. qt5_wrap_cpp(MOC_FILES src/goal_tool.h # src/probmap_display.h # src/aerialmap_display.h # src/multi_probmap_display.h ) ## Here we specify the list of source files, including the output of ## the previous command which is stored in ``${MOC_FILES}``. set(SOURCE_FILES src/pose_tool.cpp src/goal_tool.cpp # src/probmap_display.cpp # src/aerialmap_display.cpp # src/multi_probmap_display.cpp ${MOC_FILES} ) ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories(include) include_directories( ${catkin_INCLUDE_DIRS} ) add_library(${PROJECT_NAME} ${SOURCE_FILES}) target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES}) install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(FILES plugin_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY media/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media) install(DIRECTORY icons/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons)