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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(dstar_global_planner)
ADD_DEFINITIONS(-std=c++0x) # C++ 11 is required
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_core
nav_msgs
pluginlib
costmap_2d
roscpp
rospy
std_msgs
tf
)
find_package(cmake_modules REQUIRED)
#FIND_PACKAGE(Eigen REQUIRED)
#FIND_PACKAGE(Boost REQUIRED)
catkin_package(
CATKIN_DEPENDS
geometry_msgs
nav_core
nav_msgs
roscpp
rospy
std_msgs
tf
costmap_2d
pluginlib
LIBRARIES
dstar_global_planner
)
###########
## Build ##
###########
include_directories(${Eigen_INCLUDE_DIRS})
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include/
${CMAKE_CURRENT_SOURCE_DIR}/src/
${CMAKE_CURRENT_SOURCE_DIR}
${catkin_INCLUDE_DIRS}
)
set(SOURCES
src/dstar_global_planner.cpp src/Dstar.cpp include/dstar_global_planner/pathSplineSmoother/pathSplineSmoother.cpp
)
# Plugin
add_library(dstar_global_planner ${SOURCES_RRT} ${SOURCES})
target_link_libraries(dstar_global_planner ${catkin_LIBRARIES} ${BOOST_LIBRARIES} )
add_dependencies(dstar_global_planner dstar_global_planner_gencfg ${catkin_EXPORTED_TARGETS})
add_dependencies(dstar_global_planner nav_msgs_gencpp)
install(TARGETS dstar_global_planner
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES bgp_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE
)