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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(ompl_global_planner_base)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED
COMPONENTS
angles
costmap_2d
geometry_msgs
nav_core
navfn
nav_msgs
pluginlib
roscpp
tf
base_local_planner
rospy
move_base_msgs
std_msgs
)
find_package(Eigen3)
if(NOT EIGEN3_FOUND)
# Fallback to cmake_modules
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
set(Eigen3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
endif()
include_directories(
include
${Eigen3_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
generate_dynamic_reconfigure_options(cfg/Planner.cfg)
find_package(OMPL REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ompl_global_planner_base_lib
CATKIN_DEPENDS
costmap_2d
geometry_msgs
nav_core
navfn
nav_msgs
pluginlib
roscpp
tf
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(ompl_global_planner_base_lib
src/ompl_global_planner_base.cpp
)
target_link_libraries(ompl_global_planner_base_lib ${catkin_LIBRARIES} ${OMPL_LIBRARIES})
add_dependencies(ompl_global_planner_base_lib ${PROJECT_NAME}_gencfg)
install(TARGETS ompl_global_planner_base_lib
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY include/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES bgp_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})