61 lines
1.1 KiB
CMake
61 lines
1.1 KiB
CMake
cmake_minimum_required(VERSION 3.8)
|
|
project(mg_planner)
|
|
|
|
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)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(mg_msgs REQUIRED)
|
|
find_package(geometry_msgs REQUIRED)
|
|
find_package(tf2 REQUIRED)
|
|
find_package(tf2_ros REQUIRED)
|
|
find_package(tf2_geometry_msgs REQUIRED)
|
|
find_package(mg_obstacles REQUIRED)
|
|
|
|
include(FindPkgConfig)
|
|
pkg_search_module(LIBGLM REQUIRED glm)
|
|
|
|
set(PACKAGE_DEPS
|
|
rclcpp
|
|
mg_msgs
|
|
geometry_msgs
|
|
tf2
|
|
tf2_ros
|
|
tf2_geometry_msgs
|
|
mg_obstacles
|
|
)
|
|
|
|
add_executable(mg_planner
|
|
src/mg_planner.cpp
|
|
src/mg_planner_node.cpp
|
|
src/obstacleManager.cpp
|
|
src/a_star.cpp
|
|
)
|
|
|
|
ament_target_dependencies(mg_planner ${PACKAGE_DEPS})
|
|
|
|
target_include_directories(
|
|
mg_planner
|
|
PRIVATE
|
|
${LIBGLM_INCLUDE_DIRS}
|
|
include
|
|
)
|
|
|
|
target_link_libraries(
|
|
mg_planner
|
|
${LIBGLM_LIBRARIES}
|
|
)
|
|
|
|
install( TARGETS
|
|
mg_planner
|
|
DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
|
|
target_compile_features(mg_planner PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
|
|
|
|
ament_package()
|
|
|