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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.1)
project(explore_lite)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
costmap_2d
geometry_msgs
map_msgs
move_base_msgs
nav_msgs
roscpp
std_msgs
tf
visualization_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS
actionlib
actionlib_msgs
costmap_2d
geometry_msgs
map_msgs
move_base_msgs
nav_msgs
roscpp
std_msgs
tf
visualization_msgs
)
###########
## Build ##
###########
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
## Specify additional locations of header files
include_directories(
${catkin_INCLUDE_DIRS}
include
)
add_executable(explore
src/costmap_client.cpp
src/explore.cpp
src/frontier_search.cpp
)
add_dependencies(explore ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(explore ${catkin_LIBRARIES})
#############
## Install ##
#############
# install nodes
install(TARGETS explore
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# install roslaunch files
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
#############
## Testing ##
#############
if(CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
# test all launch files
roslaunch_add_file_check(launch)
endif()