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