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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(costmap_depth_camera)
find_package(catkin REQUIRED
COMPONENTS
cmake_modules
dynamic_reconfigure
geometry_msgs
map_msgs
message_filters
message_generation
nav_msgs
pluginlib
roscpp
sensor_msgs
std_msgs
tf2
tf2_geometry_msgs
tf2_ros
tf2_sensor_msgs
visualization_msgs
costmap_2d
pcl_ros
)
find_package(PCL REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
add_definitions(${EIGEN3_DEFINITIONS})
# messages
#add_message_files(
# DIRECTORY msg
# FILES
#)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
map_msgs
)
# dynamic reconfigure
generate_dynamic_reconfigure_options(
cfg/DepthCameraPlugin.cfg
)
catkin_package(
INCLUDE_DIRS
include
${EIGEN3_INCLUDE_DIRS}
LIBRARIES layers
CATKIN_DEPENDS
dynamic_reconfigure
geometry_msgs
map_msgs
message_filters
message_runtime
nav_msgs
pluginlib
roscpp
sensor_msgs
std_msgs
tf2_ros
visualization_msgs
costmap_2d
pcl_ros
DEPENDS
EIGEN3
Boost
PCL
)
add_library(costmap_depth_camera
plugins/depth_camera_obstacle_layer.cpp
src/observation_buffer.cpp
)
add_dependencies(costmap_depth_camera ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_depth_camera
${catkin_LIBRARIES} ${Boost_LIBRARIES}
)
install(TARGETS
costmap_depth_camera
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(FILES costmap_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE
)