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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(global_planner)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(message_filters REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(pluginlib REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED)
find_package(perception_3d REQUIRED)
find_package(dddmr_sys_core REQUIRED)
set(dependencies
rclcpp
rclcpp_action
rclcpp_lifecycle
rclcpp_components
std_msgs
std_srvs
sensor_msgs
visualization_msgs
nav_msgs
geometry_msgs
builtin_interfaces
message_filters
tf2_ros
tf2
tf2_geometry_msgs
tf2_eigen
pluginlib
pcl_conversions
perception_3d
dddmr_sys_core
)
include_directories(
include
${PCL_INCLUDE_DIRS}
)
# a_star_on_graph
add_library(a_star_on_graph SHARED
src/a_star_on_graph.cpp
)
target_link_libraries(a_star_on_graph
${PCL_LIBRARIES}
)
ament_target_dependencies(a_star_on_graph
${dependencies}
)
# global_planner
add_library(global_planner SHARED
src/global_planner.cpp
)
target_link_libraries(global_planner
a_star_on_graph
)
ament_target_dependencies(global_planner
${dependencies}
)
#global_planner_node
add_executable(global_planner_node
src/global_planner_node.cpp
)
target_link_libraries(global_planner_node
global_planner
)
ament_target_dependencies(global_planner_node
${dependencies}
)
install(TARGETS
a_star_on_graph
global_planner
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
#install node
install(TARGETS
global_planner_node
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/
DESTINATION include/
)
install(DIRECTORY
launch
config
rviz
data
DESTINATION share/${PROJECT_NAME}/
)
# Install Python executables
install(PROGRAMS
script/example_client.py
DESTINATION lib/${PROJECT_NAME}
)
ament_export_include_directories(include)
ament_export_dependencies(${dependencies})
ament_package()