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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(rrt_exploration)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(OpenCV REQUIRED)
# set(msg_files PointArray.msg) # Probar. Si no, incluir nombre y extension abajo, junto a std_msgs
rosidl_generate_interfaces(${PROJECT_NAME}
msg/PointArray.msg
action/ExploreNextPoint.action
DEPENDENCIES std_msgs geometry_msgs
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
include_directories(include
${OpenCV_INCLUDE_DIRS}
)
add_executable(local_rrt_detector src/local_rrt_detector.cpp src/functions.cpp src/mtrand.cpp)
add_executable(global_rrt_detector src/global_rrt_detector.cpp src/functions.cpp src/mtrand.cpp)
ament_target_dependencies(local_rrt_detector
# global_rrt_detector
rclcpp
std_msgs
nav_msgs
visualization_msgs
tf2_ros)
ament_target_dependencies(# local_rrt_detector
global_rrt_detector
rclcpp
std_msgs
nav_msgs
visualization_msgs
tf2_ros)
target_link_libraries(local_rrt_detector ${OpenCV_LIBRARIES})
target_link_libraries(global_rrt_detector ${OpenCV_LIBRARIES})
install(DIRECTORY include/
DESTINATION include)
install(TARGETS
local_rrt_detector
global_rrt_detector
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(PROGRAMS
scripts/assigner.py
scripts/filter.py
scripts/frontier_opencv_detector.py
scripts/functions.py
scripts/getfrontier.py
scripts/robot.py
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY
launch
config
DESTINATION share/${PROJECT_NAME})
ament_export_dependencies()
ament_package()
# #cmake_minimum_required(VERSION 2.8.3)
# cmake_minimum_required(VERSION 3.5)
# project(talker)
# if(NOT CMAKE_CXX_STANDARD)
# set(CMAKE_CXX_STANDARD 14)
# endif()
# if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# add_compile_options(-Wall -Wextra -Wpedantic)
# endif()
# #find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
# find_package(ament_cmake REQUIRED)
# find_package(rclcpp REQUIRED)
# find_package(std_msgs REQUIRED)
# #catkin_package()
# #include_directories(${catkin_INCLUDE_DIRS})
# include_directories(include)
# add_executable(talker talker.cpp)
# #target_link_libraries(talker ${catkin_LIBRARIES})
# ament_target_dependencies(talker
# rclcpp
# std_msgs)
# #install(TARGETS talker
# # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
# install(TARGETS talker
# DESTINATION lib/${PROJECT_NAME})
# install(DIRECTORY include/
# DESTINATION include)
# ament_export_include_directories(include)
# ament_export_dependencies(std_msgs)
# ament_package()