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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(move_basic)
find_package(catkin REQUIRED COMPONENTS
roscpp
tf2_geometry_msgs
tf2_ros
tf2
geometry_msgs
std_msgs
actionlib
actionlib_msgs
sensor_msgs
visualization_msgs
move_base_msgs
nav_core
dynamic_reconfigure
message_generation
message_runtime
)
generate_dynamic_reconfigure_options(
cfg/Movebasic.cfg
)
#generate_messages(
# DEPENDENCIES
# std_msgs
#)
catkin_package(
INCLUDE_DIRS
DEPENDS
CATKIN_DEPENDS
dynamic_reconfigure
roscpp
sensor_msgs
actionlib
std_msgs
move_base_msgs
geometry_msgs
visualization_msgs
actionlib_msgs
std_msgs
rostest
)
###########
## Build ##
###########
add_definitions(-std=c++11 -Wall -Wextra)
include_directories(${catkin_INCLUDE_DIRS} include)
add_executable(move_basic src/collision_checker.cpp src/obstacle_points.cpp src/move_basic.cpp)
add_dependencies(move_basic ${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(move_basic ${catkin_LIBRARIES})
#############
## Install ##
#############
## Mark executables and/or libraries for installation
install(TARGETS move_basic
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
#install(DIRECTORY launch/
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
#)
###########
## Tests ##
###########
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
add_rostest_gtest(collision_checker_test test/collision.test
src/collision_checker.cpp
src/obstacle_points.cpp
test/test_collision.cpp)
target_link_libraries(collision_checker_test ${catkin_LIBRARIES})
add_rostest_gtest(obstacle_points_test test/obstacle_points.test
src/obstacle_points.cpp
test/test_obstacle_points.cpp)
target_link_libraries(obstacle_points_test ${catkin_LIBRARIES})
add_rostest_gtest(goal_queueing_test test/goal_queueing.test
# src/move_basic.cpp
test/test_goal_queueing.cpp)
target_link_libraries(goal_queueing_test ${catkin_LIBRARIES})
endif()
# add_executable(goal_server src/move_basic.cpp)
# target_link_libraries(goal_server ${catkin_LIBRARIES})
# add_executable(goal_client test/test_goal_queueing.cpp)
# target_link_libraries(goal_client ${catkin_LIBRARIES})