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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
SET(CMAKE_BUILD_TYPE "Debug")
project(planning)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
rospy
roscpp
std_msgs
waypoint_msgs
visualization_msgs
)
find_package(Eigen3 REQUIRED)
find_package(OsqpEigen REQUIRED)
catkin_package(
CATKIN_DEPENDS
# INCLUDE_DIRS include
)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
include_directories(
${EIGEN3_INCLUDE_DIR}
${OsqpEigen_INCLUDE_DIR}
)
add_executable(planning
src/reference_line/reference_line.cpp
src/collision_detection/collision_detection.cpp
src/lattice_planner/lattice_planner.cpp
src/em_planner/em_planner.cpp
src/planning_node.cpp
src/planning_main.cpp
src/common.cpp)
add_dependencies(planning
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
add_executable(cruise_speed_pub
src/cruise_speed_pub.cpp)
add_dependencies(cruise_speed_pub
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(planning
${catkin_LIBRARIES}
${EIGEN3_LIBRARIES}
OsqpEigen::OsqpEigen
)
target_link_libraries(cruise_speed_pub
${catkin_LIBRARIES}
)