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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(ros_autonomous_slam)
set(ALLOW_DUPLICATE_CUSTOM_TARGETS TRUE)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rmw_implementation REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/PointArray.msg"
DEPENDENCIES geometry_msgs std_msgs
LIBRARY_NAME ${PROJECT_NAME})
ament_export_dependencies(rosidl_default_runtime)
set(dependencs
"rclcpp"
"std_msgs"
"rmw_implementation"
"tf2_ros"
"nav_msgs"
"visualization_msgs"
"geometry_msgs"
)
add_executable(global_rrt_detector src/global_rrt_detector.cpp src/mtrand.cpp src/functions.cpp)
ament_target_dependencies(global_rrt_detector ${dependencs})
add_executable(local_rrt_detector src/local_rrt_detector.cpp src/mtrand.cpp src/functions.cpp)
ament_target_dependencies(local_rrt_detector ${dependencs})
target_include_directories(global_rrt_detector PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_include_directories(local_rrt_detector PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
install(TARGETS
global_rrt_detector
local_rrt_detector
DESTINATION lib/${PROJECT_NAME}
INCLUDES DESTINATION include)
install(DIRECTORY
launch
maps
media
rviz
worlds
DESTINATION share/${PROJECT_NAME}/)
rosidl_get_typesupport_target(cpp_typesupport_target
${PROJECT_NAME} "rosidl_typesupport_c")
target_link_libraries(global_rrt_detector "${cpp_typesupport_target}")
target_link_libraries(local_rrt_detector "${cpp_typesupport_target}")
ament_python_install_package(${PROJECT_NAME}_py)
install(PROGRAMS
scripts/filter.py
scripts/assigner.py
scripts/frontier_opencv_detector.py
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()