mpc_local_planner/mpc_local_planner/CMakeLists.txt

286 lines
8.8 KiB
CMake

cmake_minimum_required(VERSION 3.1)
project(mpc_local_planner)
# Set to Release in order to speed up the program significantly
set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
base_local_planner
costmap_2d
costmap_converter
dynamic_reconfigure
roscpp
geometry_msgs
interactive_markers
nav_core
nav_msgs
mbf_costmap_core
mbf_msgs
mpc_local_planner_msgs
pluginlib
std_msgs
teb_local_planner
tf2
tf2_eigen
tf2_geometry_msgs
tf2_ros
visualization_msgs
)
# Find control_box_rst
# TODO: Currently, we use QUIET rather than REQUIRED to avoid warnings
# as some components depend on each other (circularly)
# which is currently not handled well by the exported cmake config
find_package(control_box_rst QUIET COMPONENTS
core
communication
controllers
numerics
systems
optimization
optimal_control
systems
PATH_SUFFIXES share/control_box_rst control_box_rst
PATHS ${CMAKE_BINARY_DIR} /usr/local
)
# Eigen3 FindScript Backward compatibility (ubuntu saucy)
# Since FindEigen.cmake is deprecated starting from jade.
# if (EXISTS "FindEigen3.cmake")
find_package(Eigen3 REQUIRED)
find_package(osqp QUIET)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(EXTERNAL_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
#add dynamic reconfigure api
#find_package(catkin REQUIRED dynamic_reconfigure)
generate_dynamic_reconfigure_options(
cfg/mpc_collision.cfg
cfg/mpc_controller.cfg
cfg/mpc_footprint.cfg
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include ${EXTERNAL_INCLUDE_DIRS}
LIBRARIES mpc_local_planner_utils mpc_local_planner_optimal_control mpc_local_planner
CATKIN_DEPENDS roscpp mpc_local_planner_msgs control_box_rst teb_local_planner dynamic_reconfigure
# DEPENDS
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${EXTERNAL_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(mpc_local_planner_utils
src/utils/publisher.cpp
src/utils/conversion.cpp
src/utils/time_series_se2.cpp
)
add_library(mpc_local_planner_optimal_control
src/optimal_control/full_discretization_grid_base_se2.cpp
src/optimal_control/finite_differences_grid_se2.cpp
src/optimal_control/finite_differences_variable_grid_se2.cpp
src/optimal_control/stage_inequality_se2.cpp
src/optimal_control/quadratic_cost_se2.cpp
src/optimal_control/final_state_conditions_se2.cpp
src/optimal_control/min_time_via_points_cost.cpp
)
add_library(mpc_local_planner
src/controller.cpp
src/mpc_local_planner_ros.cpp
)
# Dynamic reconfigure: make sure configure headers are built before any node using them
add_dependencies(mpc_local_planner ${PROJECT_NAME}_gencfg)
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(test_mpc_optim_node src/test_mpc_optim_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(mpc_local_planner_utils corbo_core corbo_systems)
target_link_libraries(mpc_local_planner_utils
corbo_core
corbo_systems
)
target_link_libraries(mpc_local_planner_optimal_control
corbo_optimal_control
)
target_link_libraries(mpc_local_planner
mpc_local_planner_utils
mpc_local_planner_optimal_control
corbo_controllers
${catkin_LIBRARIES}
)
target_link_libraries(test_mpc_optim_node
mpc_local_planner
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
install(PROGRAMS
scripts/plot_optimal_control_results.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables and/or libraries for installation
install(TARGETS mpc_local_planner mpc_local_planner_utils mpc_local_planner_optimal_control
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(TARGETS test_mpc_optim_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
mpc_local_planner_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY
launch cfg scripts
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN ".svn" EXCLUDE
)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mpc_local_planner.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)