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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(hybrid_astar_planner)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
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(grid_map_ros REQUIRED)
find_package(grid_map_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(planner_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(ompl REQUIRED)
include_directories(include)
include_directories(${OMPL_INCLUDE_DIRS})
add_executable(test_plan
test/test_plan.cpp
src/hybrid_astar_planner.cpp
src/path_smoother.cpp
src/kd_tree.cpp)
ament_target_dependencies(test_plan
rclcpp
grid_map_ros
grid_map_msgs
visualization_msgs
planner_msgs
ompl
tf2_geometry_msgs)
target_link_libraries(test_plan ${OMPL_LIBRARIES})
install(TARGETS
test_plan
DESTINATION lib/${PROJECT_NAME})
############################
add_executable(test_update_neigbour
test/test_update_neigbour.cpp
src/hybrid_astar_planner.cpp
src/path_smoother.cpp
src/kd_tree.cpp)
ament_target_dependencies(test_update_neigbour
rclcpp
grid_map_ros
grid_map_msgs
visualization_msgs
planner_msgs
ompl
tf2_geometry_msgs)
target_link_libraries(test_update_neigbour ${OMPL_LIBRARIES})
install(TARGETS
test_update_neigbour
DESTINATION lib/${PROJECT_NAME})
############################
add_executable(test_is_path_valid
test/test_is_path_valid.cpp
src/hybrid_astar_planner.cpp
src/path_smoother.cpp
src/kd_tree.cpp)
ament_target_dependencies(test_is_path_valid
rclcpp
grid_map_ros
grid_map_msgs
visualization_msgs
nav_msgs
planner_msgs
ompl
tf2_geometry_msgs)
target_link_libraries(test_is_path_valid ${OMPL_LIBRARIES})
install(TARGETS
test_is_path_valid
DESTINATION lib/${PROJECT_NAME})
#############################
add_executable(test_kd_tree
test/test_kd_tree.cpp
src/kd_tree.cpp)
ament_target_dependencies(test_kd_tree
rclcpp
grid_map_ros
grid_map_msgs
visualization_msgs
ompl
tf2_geometry_msgs)
target_link_libraries(test_kd_tree ${OMPL_LIBRARIES})
install(TARGETS
test_kd_tree
DESTINATION lib/${PROJECT_NAME})
############################
add_executable(test_plan_smoothed
test/test_plan_smoothed.cpp
src/hybrid_astar_planner.cpp
src/path_smoother.cpp
src/kd_tree.cpp)
ament_target_dependencies(test_plan_smoothed
rclcpp
grid_map_ros
grid_map_msgs
visualization_msgs
planner_msgs
tf2
ompl
tf2_geometry_msgs)
target_link_libraries(test_plan_smoothed ${OMPL_LIBRARIES})
install(TARGETS
test_plan_smoothed
DESTINATION lib/${PROJECT_NAME})
# Mark other files for installation
install(
DIRECTORY config launch rviz
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()