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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(FastPlannerOctomap)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
mavros
mavros_msgs
octomap_msgs
octomap_ros
pcl_ros
roscpp
rospy
sensor_msgs
tf
std_msgs
visualization_msgs
)
find_package(dynamicEDT3D)
find_package(OpenCV REQUIRED)
find_package(PkgConfig)
pkg_search_module(Eigen3 REQUIRED eigen3)
include_directories(include ${catkin_INCLUDE_DIRS})
include_directories( ${DYNAMICEDT3D_INCLUDE_DIRS})
include_directories(${EIGEN_INCLUDE_DIRS})
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES FastPlannerOctomap
# CATKIN_DEPENDS geometry_msgs mavros mavros_msgs octomap octomap_msgs pcl_ros roscpp rospy sensor_msgs std_msgs visualization_msgs
# DEPENDS system_lib
)
# add all the files to be compiled
add_executable(Planner src/Planner.cpp src/kinodynamic_astar.cpp)
target_link_libraries(Planner ${catkin_LIBRARIES} ${DYNAMICEDT3D_LIBRARIES})
add_executable(noYawPlanner src/noYawPlanner.cpp src/kinodynamic_astar.cpp)
target_link_libraries(noYawPlanner ${catkin_LIBRARIES} ${DYNAMICEDT3D_LIBRARIES})
add_executable(Controller src/Controller.cpp)
target_link_libraries(Controller ${catkin_LIBRARIES})
add_executable(pubCamPose src/pubCamPose.cpp)
target_link_libraries(pubCamPose ${catkin_LIBRARIES})
add_executable(pcNoise src/pcNoise.cpp)
target_link_libraries(pcNoise ${catkin_LIBRARIES})
add_executable(queryPt src/pubQueryPoint.cpp)
target_link_libraries(queryPt ${catkin_LIBRARIES})