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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2)
project(nav_utils)
find_package (Eigen3 REQUIRED NO_MODULE)
include_directories(${Eigen3_INCLUDE_DIRS})
set(CATKIN_DEPS
geometry_msgs
nav_msgs
nodelet
pcl_conversions
pcl_ros
roscpp
sensor_msgs
std_msgs
tf2
tf2_msgs
tf2_client
tf2_eigen
tf2_ros
topic_tools
)
find_package(catkin REQUIRED COMPONENTS ${CATKIN_DEPS} message_generation)
include_directories(${catkin_INCLUDE_DIRS})
add_message_files(FILES
PoseInt32.msg
PositionInt32.msg
PositionPathInt16.msg
PositionPathInt32.msg
QuaternionInt16.msg
Vector3Int16.msg
Vector3Int32.msg
)
generate_messages(DEPENDENCIES geometry_msgs std_msgs)
catkin_package(
CATKIN_DEPENDS ${CATKIN_DEPS} message_runtime
LIBRARIES ${PROJECT_NAME}_plugins
)
include_directories(include)
add_executable(odom_proc
src/nav_utils/odom_proc.cpp
src/nav_utils/odom_proc_node.cpp
)
target_link_libraries(odom_proc ${catkin_LIBRARIES})
add_executable(odom_twist_to_child_frame
src/nav_utils/odom_twist_to_child_frame.cpp
src/nav_utils/odom_twist_to_child_frame_node.cpp
)
target_link_libraries(odom_twist_to_child_frame ${catkin_LIBRARIES})
add_executable(odom_recompute_twist
src/nav_utils/odom_recompute_twist.cpp
src/nav_utils/odom_recompute_twist_node.cpp
)
target_link_libraries(odom_recompute_twist ${catkin_LIBRARIES})
add_executable(odom_to_tf
src/nav_utils/odom_to_tf.cpp
src/nav_utils/odom_to_tf_node.cpp
)
target_link_libraries(odom_to_tf ${catkin_LIBRARIES})
add_executable(tf_to_odom
src/nav_utils/tf_to_odom.cpp
src/nav_utils/tf_to_odom_node.cpp
)
target_link_libraries(tf_to_odom ${catkin_LIBRARIES})
add_executable(tf_to_path
src/nav_utils/tf_to_path.cpp
src/nav_utils/tf_to_path_node.cpp
)
target_link_libraries(tf_to_path ${catkin_LIBRARIES})
add_executable(tf_fast_repeater
src/nav_utils/tf_fast_repeater.cpp
src/nav_utils/tf_fast_repeater_node.cpp
)
target_link_libraries(tf_fast_repeater ${catkin_LIBRARIES})
add_executable(tf_copy
src/nav_utils/tf_copy.cpp
src/nav_utils/tf_copy_node.cpp
)
target_link_libraries(tf_copy ${catkin_LIBRARIES})
add_executable(path_downsample
src/nav_utils/path_downsample.cpp
)
add_dependencies(path_downsample ${PROJECT_NAME}_generate_messages)
target_link_libraries(path_downsample ${catkin_LIBRARIES})
add_executable(path_upsample
src/nav_utils/path_upsample.cpp
)
add_dependencies(path_upsample ${PROJECT_NAME}_generate_messages)
target_link_libraries(path_upsample ${catkin_LIBRARIES})
add_executable(odom_to_pose
src/nav_utils/odom_to_pose.cpp
)
add_dependencies(odom_to_pose ${PROJECT_NAME}_generate_messages)
target_link_libraries(odom_to_pose ${catkin_LIBRARIES})
add_executable(pose_to_odom
src/nav_utils/pose_to_odom.cpp
)
add_dependencies(pose_to_odom ${PROJECT_NAME}_generate_messages)
target_link_libraries(pose_to_odom ${catkin_LIBRARIES})
add_executable(odom_to_position
src/nav_utils/odom_to_position.cpp
)
add_dependencies(odom_to_position ${PROJECT_NAME}_generate_messages)
target_link_libraries(odom_to_position ${catkin_LIBRARIES})
add_executable(position_to_odom
src/nav_utils/position_to_odom.cpp
)
add_dependencies(position_to_odom ${PROJECT_NAME}_generate_messages)
target_link_libraries(position_to_odom ${catkin_LIBRARIES})
add_executable(orient_frame
src/nav_utils/orient_frame.cpp
src/nav_utils/orient_frame_node.cpp
)
add_dependencies(orient_frame ${PROJECT_NAME}_generate_messages)
target_link_libraries(orient_frame ${catkin_LIBRARIES})
#add_executable(test_timer_pub
# test/test_timer_pub.cpp
#)
#target_link_libraries(test_timer_pub ${catkin_LIBRARIES})
add_library(${PROJECT_NAME}_plugins
src/nav_utils/crop_box_nodelet.cpp
src/nav_utils/odom_proc.cpp
src/nav_utils/odom_proc_nodelet.cpp
src/nav_utils/odom_recompute_twist.cpp
src/nav_utils/odom_recompute_twist_nodelet.cpp
src/nav_utils/odom_to_tf.cpp
src/nav_utils/odom_to_tf_nodelet.cpp
src/nav_utils/odom_twist_to_child_frame.cpp
src/nav_utils/odom_twist_to_child_frame_nodelet.cpp
src/nav_utils/tf_copy.cpp
src/nav_utils/tf_copy_nodelet.cpp
src/nav_utils/tf_fast_repeater.cpp
src/nav_utils/tf_fast_repeater_nodelet.cpp
src/nav_utils/tf_to_odom.cpp
src/nav_utils/tf_to_odom_nodelet.cpp
src/nav_utils/tf_to_path.cpp
src/nav_utils/tf_to_path_nodelet.cpp
)
target_link_libraries(${PROJECT_NAME}_plugins ${catkin_LIBRARIES})
catkin_install_python(PROGRAMS
scripts/odom_subtract_initial_pose
scripts/quaternion_to_azimuth
scripts/tf_connect
scripts/tf_filter
scripts/tf_metrics
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
TARGETS
odom_proc
odom_recompute_twist
odom_to_pose
odom_to_position
odom_to_tf
odom_twist_to_child_frame
orient_frame
path_downsample
path_upsample
pose_to_odom
position_to_odom
tf_copy
tf_fast_repeater
tf_to_odom
tf_to_path
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
TARGETS ${PROJECT_NAME}_plugins
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(
FILES ${PROJECT_NAME}_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)