-
Notifications
You must be signed in to change notification settings - Fork 4
/
Copy pathCMakeLists.txt
256 lines (222 loc) · 9.52 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
cmake_minimum_required(VERSION 2.8.3)
project(value_iteration)
set(CMAKE_CXX_FLAGS "-std=c++14 -O3 ${CMAKE_CXX_FLAGS}")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(Eigen3 REQUIRED)
find_package(catkin REQUIRED COMPONENTS
rospy
roscpp
std_msgs
actionlib
actionlib_msgs
genmsg
geometry_msgs
message_generation
cv_bridge
grid_map_core
grid_map_ros
grid_map_cv
grid_map_filters
grid_map_loader
grid_map_msgs
grid_map_octomap
grid_map_rviz_plugin
grid_map_visualization
filters
)
## 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 run_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 run_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
# EventRegist.srv
# ActionRegist.srv
# FlushData.srv
#)
# Generate actions in the 'action' folder
add_action_files(
FILES
Vi.action
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
actionlib_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 run_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 you 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 value_iteration
CATKIN_DEPENDS roscpp rospy message_runtime #cv_bridge
#DEPENDS system_lib
grid_map_core
grid_map_ros
grid_map_cv
grid_map_filters
grid_map_loader
grid_map_msgs
grid_map_octomap
grid_map_rviz_plugin
grid_map_visualization
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
include
${EIGEN3_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(ValueIterator src/ValueIterator.cpp)
add_library(ValueIteratorLocal src/ValueIteratorLocal.cpp)
add_library(SweepWorkerStatus src/SweepWorkerStatus.cpp)
add_library(State src/State.cpp)
add_library(Action src/Action.cpp)
add_library(StateTransition src/StateTransition.cpp)
# この2行を追加
add_dependencies(ValueIterator ${TARGET_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(ValueIteratorLocal ${TARGET_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(SweepWorkerStatus ${TARGET_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(State ${TARGET_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(Action ${TARGET_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(StateTransition ${TARGET_NAME} ${PROJECT_NAME}_generate_messages_cpp)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
#add_dependencies(vi_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#add_dependencies(vi_node vi_node_generate_messages_cpp)
## Declare a C++ executable
add_executable(vi_node src/vi_node.cpp)
add_executable(vi_node_no_local src/vi_node_no_local.cpp)
add_executable(vi_node_after_planning src/vi_node_after_planning.cpp)
add_executable(vi_node_after_planning_no_local src/vi_node_after_planning_no_local.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(vi_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(vi_node_no_local ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(vi_node_after_planning ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(vi_node_after_planning_no_local ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(vi_node ${catkin_LIBRARIES} )
target_link_libraries(vi_node ValueIterator ${catkin_LIBRARIES} )
target_link_libraries(vi_node ValueIteratorLocal ${catkin_LIBRARIES} )
target_link_libraries(vi_node SweepWorkerStatus ${catkin_LIBRARIES} )
target_link_libraries(vi_node State ${catkin_LIBRARIES} )
target_link_libraries(vi_node Action ${catkin_LIBRARIES} )
target_link_libraries(vi_node StateTransition ${catkin_LIBRARIES} )
## Specify libraries to link a library or executable target against
target_link_libraries(vi_node_after_planning ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning ValueIterator ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning ValueIteratorLocal ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning SweepWorkerStatus ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning State ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning Action ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning StateTransition ${catkin_LIBRARIES} )
## Specify libraries to link a library or executable target against
target_link_libraries(vi_node_no_local ${catkin_LIBRARIES} )
target_link_libraries(vi_node_no_local ValueIterator ${catkin_LIBRARIES} )
target_link_libraries(vi_node_no_local SweepWorkerStatus ${catkin_LIBRARIES} )
target_link_libraries(vi_node_no_local State ${catkin_LIBRARIES} )
target_link_libraries(vi_node_no_local Action ${catkin_LIBRARIES} )
target_link_libraries(vi_node_no_local StateTransition ${catkin_LIBRARIES} )
## Specify libraries to link a library or executable target against
target_link_libraries(vi_node_after_planning_no_local ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning_no_local ValueIterator ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning_no_local SweepWorkerStatus ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning_no_local State ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning_no_local Action ${catkin_LIBRARIES} )
target_link_libraries(vi_node_after_planning_no_local StateTransition ${catkin_LIBRARIES} )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
# Mark executables and/or libraries for installation
install(TARGETS vi_node vi_node_no_local
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )