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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(rrt_planner)
# add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
geometry_msgs
gazebo_msgs
nav_msgs
sensor_msgs
message_generation
)
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
add_service_files(
FILES
StartGoalPath.srv
OccMapInfo.srv
RandomGetPath.srv
MapOcc.srv
)
generate_messages( # 自定義 Serivice 中有用到的 ROS library
DEPENDENCIES
geometry_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES rrt_planner
CATKIN_DEPENDS
roscpp
rospy
geometry_msgs
gazebo_msgs
nav_msgs
message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(rrt_planner
src/rrt_planner.cpp
src/grid_map.cpp
)
target_link_libraries(rrt_planner ${catkin_LIBRARIES} )
#############
## Install ##
#############
#############
## Testing ##
#############