init

2023-01-21 11:33:15 +01:00
parent 924825aa57
commit e9f436ddd7
37 changed files with 3748 additions and 92 deletions
@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 2.8.3)
+#if (POLICY CMP0048)
+#    cmake_policy(SET CMP0048 NEW)
+#endif (POLICY CMP0048)
+ADD_DEFINITIONS(-DM_DEBUG)
+
+set(CMAKE_BUILD_TYPE "Release")
+project(tangent_planner)
+
+## Find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp std_msgs nav_msgs geometry_msgs message_generation)
+
+add_service_files(
+        FILES
+        nav_path_start.srv
+        nav_path_stop.srv
+        nav_get_patrol_name.srv
+        nav_get_status.srv
+        nav_low_bat.srv
+)
+
+generate_messages(
+        DEPENDENCIES
+        std_msgs
+)
+
+## Declare a catkin package
+catkin_package(CATKIN_DEPENDS message_runtime std_msgs nav_msgs geometry_msgs)
+
+
+include_directories(
+        ${catkin_INCLUDE_DIRS}
+        include
+)
+
+add_executable(${PROJECT_NAME}
+        src/main.cpp
+        src/tangent_planner.cpp
+        src/tangent_planner_node.cpp
+        include/parameters_helper.h
+        include/tangent_planner.h
+        include/tangent_planner_node.h include/read.hpp)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+#add_executable(${PROJECT_NAME}_stop_start
+#         src/tangent_planner_node.cpp
+#         src/tangent_planner.cpp
+#         include/parameters_helper.h
+#         include/tangent_planner_node.h
+#         include/tangent_planner.h)
+#target_link_libraries(${PROJECT_NAME}_stop_start ${catkin_LIBRARIES})
+
+# uncomment to use gtest
+catkin_add_gtest(${PROJECT_NAME}_test src/gtest.cpp src/tangent_planner.cpp)
+target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/ FILES_MATCHING PATTERN "*")