2021-08-04 02:33:15 +00:00
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cmake_minimum_required(VERSION 3.5)
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project(explore_lite)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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2021-11-09 17:14:34 +00:00
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# Set flag depending on distro
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if(NOT DEFINED ENV{ROS_DISTRO})
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message(FATAL_ERROR "ROS_DISTRO is not defined." )
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endif()
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if("$ENV{ROS_DISTRO}" STREQUAL "eloquent")
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message(STATUS "Build for ROS2 eloquent")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DELOQUENT")
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elseif("$ENV{ROS_DISTRO}" STREQUAL "dashing")
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message(STATUS "Build for ROS2 dashing")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DDASHING")
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else()
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message(STATUS "BuilD for ROS2: " "$ENV{ROS_DISTRO}")
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endif()
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2021-08-04 02:33:15 +00:00
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(map_msgs REQUIRED)
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find_package(visualization_msgs REQUIRED)
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find_package(nav2_costmap_2d REQUIRED)
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set(DEPENDENCIES
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rclcpp
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std_msgs
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sensor_msgs
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tf2
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tf2_ros
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tf2_geometry_msgs
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nav2_msgs
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nav_msgs
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map_msgs
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nav2_costmap_2d
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visualization_msgs
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)
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include_directories(
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include
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)
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install(
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DIRECTORY include/explore/
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DESTINATION include/explore/
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)
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install(DIRECTORY
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config
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DESTINATION share/${PROJECT_NAME}
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)
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install(DIRECTORY
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launch
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DESTINATION share/${PROJECT_NAME}
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)
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2021-11-09 17:14:34 +00:00
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2021-08-04 02:33:15 +00:00
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add_executable(explore
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src/costmap_client.cpp
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src/explore.cpp
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src/frontier_search.cpp
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)
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target_include_directories(explore PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(explore)
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ament_target_dependencies(explore ${DEPENDENCIES})
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install(TARGETS explore
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DESTINATION lib/${PROJECT_NAME})
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
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ament_export_include_directories(include)
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ament_package()
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