CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(mpc_local_planner)

add_compile_options(-std=c++17)

# Stop IDEs from processing googletest dir, this messes up code refactoring and inspection
# We need to remove this one day down the line.
set(CATKIN_ENABLE_TESTING false)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
        roscpp

        # For the core planner
        nav_core
        mpc_lib

        # For visualisation
        nav_msgs
        virat_msgs
        )

# For polynomial fitting
find_package(Eigen3 3.3 REQUIRED)

# TODO: We may want to expose an action api.
################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )


################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )


catkin_package(
        INCLUDE_DIRS include
        LIBRARIES mpc_local_planner
        CATKIN_DEPENDS mpc_lib
        DEPENDS EIGEN3
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
        include
        ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}
        src/mpc_local_planner.cpp
        src/get_obstacles.cpp
        src/helper.cpp
        src/shadow_casting.cpp
        )

## Add cmake target dependencies of the library
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# Libraries
target_link_libraries(${PROJECT_NAME}
        Eigen3::Eigen
        ${catkin_LIBRARIES}
        )


## Declare a C++ executable
# This executable is only for testing.
add_executable(shadow_test test/shadowcast_test.cpp src/shadow_casting.cpp)
add_dependencies(shadow_test ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(shadow_test
        ${catkin_LIBRARIES}
        )


#############
## Install ##
#############

# Mark executables for installation
# See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS shadow_test
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
        )

# Mark libraries for installation
# See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
        )

# Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
        FILES_MATCHING PATTERN "*.h"
        PATTERN ".git" EXCLUDE
        )

install(DIRECTORY launch/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
        PATTERN ".git" EXCLUDE)


## Prints all CMake Vars-
#get_cmake_property(_variableNames VARIABLES)
#list(SORT _variableNames)
#foreach (_variableName ${_variableNames})
#    message(STATUS "${_variableName}=${${_variableName}}")
#endforeach ()