Added collision avoidance to MoveGlobal routine

mg_obstacles/CMakeLists.txt

@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.12)
+
+project(mg_obstacles)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "CLANG")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+set(PACKAGE_DEPS
+    rclcpp
+    ament_index_cpp
+    mg_msgs
+    geometry_msgs
+    std_msgs
+    tf2
+    tf2_ros
+    tf2_geometry_msgs
+    jsoncpp
+)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+    find_package(${PACKAGE} REQUIRED)
+endforeach(PACKAGE ${PACKAGE_DEPS})
+
+include(FindPkgConfig)
+pkg_check_modules(JSONCPP jsoncpp)
+# pkg_search_module(LIBGLM REQUIRED glm)
+
+set(SOURCES
+    src/mg_obstacles.cpp
+    src/sdf.cpp
+    src/static_obstacle.cpp
+    src/permanent_obstacle.cpp
+)
+
+add_library(
+    mg_obstacles
+    SHARED
+    ${SOURCES}
+)
+
+target_include_directories(
+    mg_obstacles
+    PRIVATE
+    ${LIBGLM_INCLUDE_DIRS}
+    ${JSONCPP_INCLUDE_DIRS}
+)
+
+target_link_libraries(mg_obstacles ${JSONCPP_LINK_LIBRARIES})
+
+target_include_directories(
+    mg_obstacles
+    PUBLIC 
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+
+ament_target_dependencies(
+    mg_obstacles
+    ${PACKAGE_DEPS}
+)
+
+
+install(
+    TARGETS mg_obstacles
+    EXPORT export_${PROJECT_NAME}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+install(DIRECTORY obstacles DESTINATION share/${PROJECT_NAME}/)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_include_directories(include)
+
+target_compile_features(mg_obstacles PUBLIC c_std_99 cxx_std_17)
+
+ament_package()
+