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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(srl_global_planner)
ADD_DEFINITIONS(-std=c++0x) # C++ 11 is required
# Adding definitions
MESSAGE(STATUS "Compiling with maximum optimization, will only work on Core i7 processors! (-mavx -march=corei7-avx -msse4.2 -O3 -funroll-loops -fomit-frame-pointer -ftree-vectorize ...)")
ADD_DEFINITIONS(-march=corei7-avx)
ADD_DEFINITIONS(-mtune=corei7-avx)
ADD_DEFINITIONS(-msse)
ADD_DEFINITIONS(-msse2)
ADD_DEFINITIONS(-msse3)
ADD_DEFINITIONS(-mssse3)
ADD_DEFINITIONS(-msse4.1)
ADD_DEFINITIONS(-msse4.2)
IF($ENV{AVX})
ADD_DEFINITIONS(-mavx)
MESSAGE(STATUS "Compiling with AVX on")
ELSE()
MESSAGE(WARNING "Compiling with AVX off")
ADD_DEFINITIONS(-mno-avx)
ENDIF()
ADD_DEFINITIONS(-O3)
ADD_DEFINITIONS(-funroll-loops)
ADD_DEFINITIONS(-fomit-frame-pointer)
ADD_DEFINITIONS(-pipe)
ADD_DEFINITIONS(-ftree-vectorize)
ADD_DEFINITIONS(-DNDEBUG)
set(CMAKE_BUILD_TYPE RelWithDebInfo)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_core
nav_msgs
spencer_tracking_msgs
spencer_nav_msgs
spencer_control_msgs
pluginlib
costmap_2d
navfn
global_planner
roscpp
rospy
std_msgs
tf
visualization_msgs
)
find_package(cmake_modules REQUIRED)
# add qt4 to the project
FIND_PACKAGE(Eigen REQUIRED)
FIND_PACKAGE(Boost REQUIRED)
catkin_package(
CATKIN_DEPENDS
geometry_msgs
nav_core
nav_msgs
roscpp
rospy
std_msgs
tf
visualization_msgs
costmap_2d
pluginlib
navfn
global_planner
spencer_tracking_msgs
spencer_nav_msgs
spencer_control_msgs
LIBRARIES
srl_global_planner
)
FIND_PACKAGE( OpenMP REQUIRED)
if(OPENMP_FOUND)
message("OPENMP FOUND")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()
###########
## Build ##
###########
include_directories(${Eigen_INCLUDE_DIRS})
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include/
${CMAKE_CURRENT_SOURCE_DIR}/src/
${CMAKE_CURRENT_SOURCE_DIR}
${catkin_INCLUDE_DIRS}
)
# RRT PLANNER
## Declare KdTree lib
add_library(SRLGLOBALPLANNER_KDTREE_LIB ${CMAKE_CURRENT_SOURCE_DIR}/include/smp/external_libraries/kdtree/kdtree.c)
# Setting SOURCES variables
set(SOURCES_RRT src/srl_global_planner.cpp include/srl_global_planner/srl_global_planner.h)
set(SOURCES
src/costmap_layers_dyn_rec_handler.cpp include/srl_global_planner/costmap_layers_dyn_rec_handler.h src/thetastar_leading_rrt.cpp include/srl_global_planner/thetastar_leading_rrt.h include/srl_global_planner/costmap_model.cpp include/srl_global_planner/trajectory.cpp include/srl_global_planner/grid.cpp include/srl_global_planner/cell.cpp
)
# Plugin
add_library(srl_global_planner ${SOURCES_RRT} ${SOURCES})
target_link_libraries(srl_global_planner ${catkin_LIBRARIES} ${BOOST_LIBRARIES} SRLGLOBALPLANNER_KDTREE_LIB)
add_dependencies(srl_global_planner srl_global_planner_gencfg ${catkin_EXPORTED_TARGETS})
add_dependencies(srl_global_planner nav_msgs_gencpp)
install(TARGETS srl_global_planner
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES srl_global_planner_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE
)