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Commit 37f366e4 authored by Sergi Hernandez's avatar Sergi Hernandez
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Added the messages and services definitions needed by the opendrive global planner.

parent 69697d1c
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...@@ -7,7 +7,7 @@ add_definitions(-std=c++11) ...@@ -7,7 +7,7 @@ add_definitions(-std=c++11)
## Find catkin macros and libraries ## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages ## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib std_srvs move_base_msgs tf2_ros nav_msgs iri_base_algorithm iri_adc_msgs costmap_2d) find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib std_srvs move_base_msgs tf2_ros nav_msgs iri_base_algorithm costmap_2d message_generation iri_behaviortree)
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system) # find_package(Boost REQUIRED COMPONENTS system)
...@@ -44,18 +44,21 @@ catkin_python_setup() ...@@ -44,18 +44,21 @@ catkin_python_setup()
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder ## Generate messages in the 'msg' folder
# add_message_files( add_message_files(
# FILES FILES
adc_opendrive_nodes.msg
# Message1.msg # Message1.msg
# Message2.msg # Message2.msg
# ) )
## Generate services in the 'srv' folder ## Generate services in the 'srv' folder
# add_service_files( add_service_files(
# FILES FILES
get_opendrive_map.srv
get_opendrive_nodes.srv
# Service1.srv # Service1.srv
# Service2.srv # Service2.srv
# ) )
## Generate actions in the 'action' folder ## Generate actions in the 'action' folder
# add_action_files( # add_action_files(
...@@ -65,10 +68,10 @@ catkin_python_setup() ...@@ -65,10 +68,10 @@ catkin_python_setup()
# ) # )
## Generate added messages and services with any dependencies listed here ## Generate added messages and services with any dependencies listed here
# generate_messages( generate_messages(
# DEPENDENCIES DEPENDENCIES
# std_msgs # Or other packages containing msgs nav_msgs std_msgs # Or other packages containing msgs
# ) )
################################################ ################################################
## Declare ROS dynamic reconfigure parameters ## ## Declare ROS dynamic reconfigure parameters ##
...@@ -101,8 +104,8 @@ set(module_name iri_nav_module) ...@@ -101,8 +104,8 @@ set(module_name iri_nav_module)
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
LIBRARIES ${module_name} LIBRARIES ${module_name} ${module_name}_bt
CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib std_srvs move_base_msgs tf2_ros nav_msgs iri_base_algorithm iri_adc_msgs costmap_2d CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib std_srvs move_base_msgs tf2_ros nav_msgs iri_base_algorithm costmap_2d message_generation iri_behaviortree
# DEPENDS system_lib # DEPENDS system_lib
) )
...@@ -116,7 +119,7 @@ include_directories(include) ...@@ -116,7 +119,7 @@ include_directories(include)
include_directories(${catkin_INCLUDE_DIRS}) include_directories(${catkin_INCLUDE_DIRS})
include_directories(${iriutils_INCLUDE_DIR}) include_directories(${iriutils_INCLUDE_DIR})
## Declare a C++ libraryi ## Declare a C++ library
# Module # Module
add_library(${module_name} add_library(${module_name}
include/${PROJECT_NAME}/ackermann_lp_module.h include/${PROJECT_NAME}/ackermann_lp_module.h
...@@ -124,11 +127,25 @@ add_library(${module_name} ...@@ -124,11 +127,25 @@ add_library(${module_name}
include/${PROJECT_NAME}/nav_module.h include/${PROJECT_NAME}/nav_module.h
include/${PROJECT_NAME}/nav_planner_module.h include/${PROJECT_NAME}/nav_planner_module.h
include/${PROJECT_NAME}/opendrive_gp_module.h include/${PROJECT_NAME}/opendrive_gp_module.h
include/${PROJECT_NAME}/sbpl_gp_module.h
) )
set_target_properties(${module_name} PROPERTIES LINKER_LANGUAGE CXX) set_target_properties(${module_name} PROPERTIES LINKER_LANGUAGE CXX)
target_link_libraries(${module_name} ${catkin_LIBRARIES}) target_link_libraries(${module_name} ${catkin_LIBRARIES})
target_link_libraries(${module_name} ${iriutils_LIBRARY}) target_link_libraries(${module_name} ${iriutils_LIBRARY})
set(module_bt_name ${module_name}_bt)
add_library(${module_bt_name}
include/${PROJECT_NAME}/nav_module_bt.h
include/${PROJECT_NAME}/nav_costmap_module_bt.h
include/${PROJECT_NAME}/ackermann_lp_module_bt.h)
set_target_properties(${module_bt_name} PROPERTIES LINKER_LANGUAGE CXX)
target_link_libraries(${module_bt_name} ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/lib${module_name}.so)
target_link_libraries(${module_bt_name} ${catkin_LIBRARIES})
target_link_libraries(${module_bt_name} ${iriutils_LIBRARIES})
add_dependencies(${module_bt_name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${module_name})
##Link to other modules ##Link to other modules
##target_link_libraries(new_module <module path>/lib<module_name>.so) ##target_link_libraries(new_module <module path>/lib<module_name>.so)
......
Header header
uint32[] nodes
---
nav_msgs/OccupancyGrid opendrive_map
---
iri_nav_module/adc_opendrive_nodes opendrive_nodes
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