forked from fkie/fkie-nbv-planner
-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
148 lines (122 loc) · 2.39 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
cmake_minimum_required(VERSION 3.0.2)
project(fkie_nbv_planner)
find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
geometry_msgs
gps_common
jsk_rviz_plugins
mbf_msgs
message_generation
message_runtime
nav_msgs
octomap_msgs
octomap_server
octomap_rviz_plugins
roscpp
std_msgs
tf
tf2
tf2_geometry_msgs
visualization_msgs
fkie_measurement_msgs
fkie_ddynamic_reconfigure
)
find_package(octomap REQUIRED)
find_package(CGAL REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_search_module(EIGEN3 REQUIRED eigen3)
include_directories(
include
${catkin_INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
)
add_action_files(
DIRECTORY action
FILES
NbvPlanner.action
)
generate_messages(
DEPENDENCIES
actionlib_msgs
fkie_measurement_msgs
geometry_msgs
mbf_msgs
nav_msgs
std_msgs
visualization_msgs
)
catkin_package(
LIBRARIES
fkie_nbv_planner
${catkin_LIBRARIES}
${OCTOMAP_LIBRARIES}
CATKIN_DEPENDS
actionlib
actionlib_msgs
geometry_msgs
gps_common
mbf_msgs
message_generation
message_runtime
octomap_msgs
roscpp
std_msgs
nav_msgs
tf
tf2
tf2_geometry_msgs
visualization_msgs
fkie_measurement_msgs
fkie_ddynamic_reconfigure
)
add_library(fkie_nbv_planner
src/NBVPlanner.cpp
src/NBVRviz.cpp
src/RRTNode.cpp
src/PathOptimizer.cpp
src/NBVParameters.cpp
)
target_link_libraries(fkie_nbv_planner
${catkin_LIBRARIES}
${OCTOMAP_LIBRARIES}
CGAL gmp
)
add_dependencies(fkie_nbv_planner
${catkin_EXPORTED_TARGETS}
${${PROJECT_NAME}_EXPORTED_TARGETS}
)
add_executable(nbvplanner_node
src/nbvplanner_node.cpp
src/NBVPlanner.cpp
src/NBVRviz.cpp
src/RRTNode.cpp
src/PathOptimizer.cpp
src/NBVParameters.cpp
)
target_link_libraries(nbvplanner_node
${catkin_LIBRARIES}
${OCTOMAP_LIBRARIES}
CGAL gmp
)
add_dependencies(nbvplanner_node
${catkin_EXPORTED_TARGETS}
${${PROJECT_NAME}_EXPORTED_TARGETS}
)
#############
## Install ##
#############
install(TARGETS
nbvplanner_node
fkie_nbv_planner
EXPORT fkie_nbv_planner
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
PUBLIC_HEADER DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(PROGRAMS
scripts/odom2Posestamped.py
scripts/camera_pose_tf.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)