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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(rfn3d)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++17 -O3)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
# Using GUROBI_LIBRARY on it's own isn't enough to get things to compile...
# Snippet taken from https://github.com/mit-acl/faster/blob/master/faster/CMakeLists.txt
FILE(GLOB GurobiSOFiles $ENV{GUROBI_HOME}/lib/libgurobi*[0-9]*.so) #files that are start with libgurobi and end with number.so
set(GUROBI_LIBRARIES "$ENV{GUROBI_HOME}/lib/libgurobi_c++.a;${GurobiSOFiles};" )
find_package(fcl REQUIRED)
find_package(PCL REQUIRED)
find_package(ompl REQUIRED)
find_package(GUROBI REQUIRED)
find_package(octomap REQUIRED)
find_package(Eigen3 REQUIRED COMPONENTS system)
## 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
nav_msgs
roscpp
rospy
geometry_msgs
std_msgs
octomap_msgs
trajectory_msgs
mav_trajectory_generation
mav_trajectory_generation_ros
voxblox_ros
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# nav_msgs# std_msgs# trajectory_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## 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 your 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 rfn3d
# CATKIN_DEPENDS nav_msgs roscpp rospy std_msgs trajectory_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${fcl_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OMPL_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${GUROBI_INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/include
)
add_executable(planner
src/planner.cpp
src/planner_node.cpp
src/ompl_rrt_traj.cpp
src/solver.cpp
)
target_link_libraries(planner
${catkin_LIBRARIES}
${OCTOMAP_LIBRARIES}
${fcl_LIBRARIES}
${OMPL_LIBRARIES}
${PCL_LIBRARIES}
${GUROBI_LIBRARIES}
Eigen3::Eigen
)
add_executable(voxblox_rrt
src/voxblox_rrt.cpp
)
target_link_libraries(voxblox_rrt
${catkin_LIBRARIES}
${OMPL_LIBRARIES}
${PCL_LIBRARIES}
Eigen3::Eigen
)