80 lines
1.5 KiB
CMake
80 lines
1.5 KiB
CMake
cmake_minimum_required(VERSION 3.1)
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project(explore_lite)
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## Find catkin macros and libraries
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find_package(catkin REQUIRED COMPONENTS
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actionlib
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actionlib_msgs
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costmap_2d
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geometry_msgs
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map_msgs
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move_base_msgs
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nav_msgs
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roscpp
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std_msgs
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tf
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visualization_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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catkin_package(
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CATKIN_DEPENDS
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actionlib_msgs
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geometry_msgs
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map_msgs
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move_base_msgs
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nav_msgs
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std_msgs
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visualization_msgs
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)
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###########
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## Build ##
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###########
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# c++11 support required
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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## Specify additional locations of header files
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include_directories(
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${catkin_INCLUDE_DIRS}
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include
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)
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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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add_dependencies(explore ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(explore ${catkin_LIBRARIES})
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#############
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## Install ##
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#############
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# install nodes
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install(TARGETS explore
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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# install roslaunch files
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
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#############
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## Testing ##
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#############
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if(CATKIN_ENABLE_TESTING)
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find_package(roslaunch REQUIRED)
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# test all launch files
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roslaunch_add_file_check(launch)
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endif()
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