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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5.1)
cmake_policy(SET CMP0048 NEW)
project(sbpl_recovery)
##############################################################################
# Find dependencies
##############################################################################
set(THIS_PACKAGE_ROS_DEPS roscpp nav_core sbpl_lattice_planner pose_follower
costmap_2d pluginlib base_local_planner tf2_ros)
find_package(catkin REQUIRED COMPONENTS ${THIS_PACKAGE_ROS_DEPS})
include_directories(include ${catkin_INCLUDE_DIRS})
##############################################################################
# Define package
##############################################################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES sbpl_recovery
CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS}
)
##############################################################################
# Build
##############################################################################
add_library(sbpl_recovery src/sbpl_recovery.cpp)
target_link_libraries(sbpl_recovery ${catkin_LIBRARIES})
target_compile_options(sbpl_recovery PUBLIC "-Wno-terminate") # suppress warning from included SBPL header
##############################################################################
# Install
##############################################################################
install(TARGETS sbpl_recovery
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)
install(FILES recovery_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)