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Merge pull request #46 from naturerobots/41-port-cvp_mesh_planner-pkg…
…-to-ros2 41 port cvp mesh planner pkg to ros2
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,58 +1,32 @@ | ||
cmake_minimum_required(VERSION 2.8.3) | ||
cmake_minimum_required(VERSION 3.8) | ||
project(cvp_mesh_planner) | ||
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||
set(CMAKE_CXX_STANDARD 14) | ||
set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
set(CMAKE_CXX_EXTENSIONS OFF) | ||
find_package(ament_cmake_ros REQUIRED) | ||
find_package(mbf_mesh_core REQUIRED) | ||
find_package(mbf_msgs REQUIRED) | ||
find_package(mbf_utility REQUIRED) | ||
find_package(mesh_map REQUIRED) | ||
find_package(rclcpp REQUIRED) | ||
|
||
find_package(catkin REQUIRED COMPONENTS | ||
roscpp | ||
mbf_mesh_core | ||
mbf_utility | ||
mbf_msgs | ||
mesh_map | ||
dynamic_reconfigure | ||
) | ||
|
||
find_package(PkgConfig REQUIRED) | ||
pkg_check_modules(JSONCPP jsoncpp) | ||
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||
generate_dynamic_reconfigure_options( | ||
cfg/CVPMeshPlanner.cfg | ||
) | ||
pluginlib_export_plugin_description_file(mbf_mesh_core cvp_mesh_planner.xml) | ||
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||
catkin_package( | ||
LIBRARIES cvp_mesh_planner | ||
CATKIN_DEPENDS roscpp mbf_mesh_core mbf_utility mbf_msgs mesh_map dynamic_reconfigure | ||
) | ||
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||
include_directories( | ||
include | ||
${catkin_INCLUDE_DIRS} | ||
) | ||
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add_library(${PROJECT_NAME} | ||
src/cvp_mesh_planner.cpp | ||
) | ||
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||
add_dependencies(${PROJECT_NAME} | ||
${${PROJECT_NAME}_EXPORTED_TARGETS} | ||
${catkin_EXPORTED_TARGETS} | ||
${PROJECT_NAME}_gencfg | ||
) | ||
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||
target_link_libraries(${PROJECT_NAME} | ||
${catkin_LIBRARIES} | ||
${JSONCPP_LIBRARIES} | ||
) | ||
add_library(${PROJECT_NAME} src/cvp_mesh_planner.cpp) | ||
target_include_directories(${PROJECT_NAME} PUBLIC | ||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> | ||
$<INSTALL_INTERFACE:include>) | ||
target_compile_definitions(${PROJECT_NAME} PRIVATE "CVP_MESH_PLANNER_BUILDING_LIBRARY") | ||
ament_target_dependencies(${PROJECT_NAME} mbf_mesh_core mbf_msgs mbf_utility mesh_map rclcpp) | ||
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install(DIRECTORY include DESTINATION include) | ||
install(TARGETS ${PROJECT_NAME} | ||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
) | ||
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||
install(FILES cvp_mesh_planner.xml | ||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
EXPORT export_${PROJECT_NAME} | ||
ARCHIVE DESTINATION lib | ||
LIBRARY DESTINATION lib | ||
RUNTIME DESTINATION bin | ||
) | ||
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||
ament_export_include_directories(include) | ||
ament_export_libraries(${PROJECT_NAME}) | ||
ament_export_targets(export_${PROJECT_NAME}) | ||
ament_export_dependencies(mbf_mesh_core mbf_msgs mbf_utility mesh_map rclcpp) | ||
ament_package() |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,22 +1,19 @@ | ||
<?xml version="1.0"?> | ||
<package format="2"> | ||
<package format="3"> | ||
<name>cvp_mesh_planner</name> | ||
<version>1.0.1</version> | ||
<description>The Continuous Vector Field Planner (CVP) mesh planner package</description> | ||
<maintainer email="spuetz@uos.de">Sebastian Pütz</maintainer> | ||
<license>BSD 3-Clause</license> | ||
<author email="spuetz@uos.de">Sebastian Pütz</author> | ||
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||
<buildtool_depend>catkin</buildtool_depend> | ||
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||
<depend>roscpp</depend> | ||
<depend>rclcpp</depend> | ||
<depend>mbf_mesh_core</depend> | ||
<depend>mbf_utility</depend> | ||
<depend>mbf_msgs</depend> | ||
<depend>mesh_map</depend> | ||
<depend>dynamic_reconfigure</depend> | ||
|
||
<export> | ||
<mbf_mesh_core plugin="${prefix}/cvp_mesh_planner.xml"/> | ||
<build_type>ament_cmake</build_type> | ||
</export> | ||
</package> |
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