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
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 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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
)
add_dependencies(layers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(layers
costmap_2d
)
add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
add_dependencies(costmap_2d_markers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_2d_markers
costmap_2d
${PCL_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
add_dependencies(costmap_2d_cloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_2d_cloud
costmap_2d
${PCL_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
add_executable(costmap_2d_node src/costmap_2d_node.cpp)
add_dependencies(costmap_2d_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_2d_node
costmap_2d
${PCL_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
## 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)
# 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)
catkin_add_gtest(coordinates_test test/coordinates_test.cpp)
target_link_libraries(coordinates_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(FILES test/TenByTen.yaml test/TenByTen.pgm
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE
)
kinetic版本的Navigation源码
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2022-03-24
22:16:12
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kinetic版本的Navigation源码 （323个子文件） 
testmap.bmp 374B
pf.c 18KB pf_kdtree.c 12KB pf_vector.c 6KB 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 MoveBase.cfg 3KB DWAPlanner.cfg 3KB GlobalPlanner.cfg 2KB Costmap2D.cfg 2KB ObstaclePlugin.cfg 1KB VoxelPlugin.cfg 1KB InflationPlugin.cfg 616B LocalPlannerLimits.cfg 309B GenericPlugin.cfg 276B amcl_node.cpp 50KB move_base.cpp 46KB 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 20KB costmap_2d_ros.cpp 18KB odom_estimation.cpp 16KB planner_core.cpp 16KB navfn_ros.cpp 16KB dwa_planner.cpp 15KB voxel_layer.cpp 15KB inflation_tests.cpp 15KB amcl_laser.cpp 14KB costmap_2d.cpp 13KB inflation_layer.cpp 13KB amcl_odom.cpp 11KB dwa_planner_ros.cpp 11KB static_tests.cpp 11KB footprint.cpp 11KB static_layer.cpp 11KB simple_trajectory_generator.cpp 11KB map_grid.cpp 11KB goal_functions.cpp 11KB latched_stop_rotate_controller.cpp 10KB voxel_grid_model.cpp 10KB fake_localization.cpp 10KB gradient_path.cpp 10KB observation_buffer.cpp 10KB move_slow_and_clear.cpp 9KB main.cpp 8KB obstacle_tests.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 map_saver.cpp 6KB costmap_tester.cpp 6KB rotate_recovery.cpp 6KB map_grid_test.cpp 6KB test_robot_pose_ekf.cpp 6KB layered_costmap.cpp 6KB footprint_tests.cpp 6KB clear_costmap_recovery.cpp 6KB costmap_2d_publisher.cpp 6KB map_cspace.cpp 6KB oscillation_cost_function.cpp 5KB simple_scored_sampling_planner.cpp 5KB image_loader.cpp 5KB costmap_model.cpp 5KB velocity_iterator_test.cpp 5KB costmap_2d_markers.cpp 5KB orientation_filter.cpp 5KB voxel_grid_tests.cpp 5KB rtest.cpp 5KB obstacle_cost_function.cpp 5KB navwin.cpp 5KB footprint_helper_test.cpp 5KB plan_node.cpp 4KB path_calc_test.cpp 4KB map_grid_cost_function.cpp 4KB coordinates_test.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共 323 条
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