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  1. cmake_minimum_required(VERSION 2.4.6)
  2. include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
  3. set(ROS_BUILD_TYPE Release)
  4. rosbuild_init()
  5. rosbuild_genmsg()
  6. rosbuild_gensrv()
  7.  
  8. find_package(PCL REQUIRED)
  9. find_package(Eigen REQUIRED)
  10. include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS}
  11.                            ${PCL_INCLUDE_DIRS}
  12. )
  13. add_definitions(${EIGEN_DEFINITIONS})
  14.  
  15. #rosbuild_add_boost_directories()                                                                                                                                                                  
  16.  
  17. rosbuild_add_library(costmap_2d src/costmap_2d.cpp src/observation_buffer.cpp src/layered_costmap.cpp src/costmap_2d_ros.cpp src/costmap_2d_publisher.cpp src/footprint.cpp src/costmap_math.cpp s\
  18. rc/layer.cpp src/array_parser.cpp)
  19. target_link_libraries(costmap_2d ${PCL_LIBRARIES})
  20. #rosbuild_link_boost(costmap_2d thread)                                                                                                                                                            
  21.  
  22. rosbuild_add_library(footprint_layer plugins/footprint_layer.cpp)
  23. rosbuild_add_library(inflation_layer plugins/inflation_layer.cpp)
  24. rosbuild_add_library( obstacle_layer  plugins/obstacle_layer.cpp src/observation_buffer.cpp plugins/footprint_layer.cpp)
  25. rosbuild_add_library(   static_layer    plugins/static_layer.cpp)
  26. rosbuild_add_library(    voxel_layer     plugins/voxel_layer.cpp plugins/obstacle_layer.cpp)
  27.  
  28.  
  29. rosbuild_find_ros_package(dynamic_reconfigure)
  30. include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
  31. gencfg()
  32.  
  33. rosbuild_add_executable(bin/costmap_2d_markers src/costmap_2d_markers.cpp)
  34. #rosbuild_add_executable(bin/costmap_2d_cloud src/costmap_2d_cloud.cpp)                                                                                                                            
  35.  
  36. rosbuild_add_executable(bin/costmap_2d_node src/costmap_2d_node.cpp)
  37. target_link_libraries(bin/costmap_2d_node costmap_2d)
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