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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(autopilot)
# Path to the dynamicEDT3D package (included in the octomap module)
# For some reason, catkin does not find it with the rest of the packages...
set(dynamicEDT3D_DIR "/opt/ros/melodic/share/dynamicEDT3D/")
# Debug build type
set(CMAKE_BUILD_TYPE Debug)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
octomap_ros
message_generation
dynamicEDT3D
controller_msgs
)
add_message_files(
FILES
MotionPrimitive.msg
BoundingBox.msg
)
add_service_files(
FILES
LocalGoal.srv
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
catkin_package(
CATKIN_DEPENDS octomap_ros message_runtime
)
include_directories(
${catkin_INCLUDE_DIRS}
${DYNAMICEDT3D_INCLUDE_DIRS}
)
# add_executable(octo_node src/octo_node.cpp)
# target_link_libraries(octo_node ${catkin_LIBRARIES})
# add_dependencies(octo_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
catkin_install_python(PROGRAMS global_planner.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
set(LOCAL_PLANNER_SOURCE
src/LocalPlanner.cpp
src/MotionPrimitive.cpp
src/MotionPrimitiveLibrary.cpp
src/SingleAxisTrajectory.cpp
)
set(LOCAL_PLANNER_HEADER
src/MotionPrimitive.h
src/MotionPrimitiveLibrary.h
src/SingleAxisTrajectory.h
src/Vec3.h
)
add_executable(local_planner ${LOCAL_PLANNER_SOURCE} ${LOCAL_PLANNER_HEADER})
target_link_libraries(local_planner
${catkin_LIBRARIES}
${OCTOMAP_LIBRARIES}
${DYNAMICEDT3D_LIBRARIES}
)