CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(planner_cpp)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  rospy
  actionlib
  actionlib_msgs
  std_msgs
  geometry_msgs
  nav_msgs
  message_generation
  cv_bridge
  grid_map_core
  grid_map_ros
  grid_map_msgs
  nodelet
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## 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 messages in the 'msg' folder
 add_message_files(
   FILES
   BoundingBox.msg
   BoundingBoxes.msg
 )

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

## Generate actions in the 'action' folder
 add_action_files(
   DIRECTORY action
   FILES PathFollow.action FollowGate.action FollowTag.action
 )

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES actionlib_msgs geometry_msgs std_msgs nav_msgs # Or other packages containing msgs
 )

################################################
## 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 specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
 INCLUDE_DIRS include
#  LIBRARIES planner_cpp
  CATKIN_DEPENDS rospy actionlib_msgs
#  DEPENDS system_lib
)

###########
## 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(${PROJECT_NAME}
#   src/${PROJECT_NAME}/planner.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/planner_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
 install(PROGRAMS
   scripts/astar_borrowed_service.py astar_borrowed_test.py mapping.py root_controller.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   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 ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_planner.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

find_package(PythonLibs REQUIRED)
include_directories(${PYTHON_INCLUDE_DIRS})


# CMakeLists.txt
cmake_minimum_required(VERSION 3.15)
project("example" LANGUAGES CXX)

# guard against in-source builds
if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
    message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
endif()

# find python libraries
find_package(Python3 COMPONENTS Interpreter Development NumPy REQUIRED)
find_package(PythonLibs 3.0 REQUIRED)
include_directories(${PYTHON3_INCLUDE_DIRS} ${NumPy_INCLUDE_DIRS})

# populate matplotlib repository
include(FetchContent)
FetchContent_Declare(
    matplotlib
    GIT_REPOSITORY https://github.com/lava/matplotlib-cpp.git
    GIT_TAG        f23347fca25219d1c42cbb91608b5556814bf572
)
FetchContent_GetProperties(matplotlib)
if(NOT matplotlib_POPULATED)
    FetchContent_Populate(matplotlib)
endif()
include_directories(SYSTEM ${matplotlib_SOURCE_DIR})

# add executable
# add_executable(mapping src/mapping.cpp)
# add_executable(astar_planner src/astar_planner.cpp)
# add_executable(astar_planner_test src/astar_planner_test.cpp)
# add_executable(path_follower src/path_follower.cpp)
# add_executable(dsa_cpp src/dsa_cpp.cpp)
# add_executable(grid_map_play src/grid_map_play.cpp)
add_library(planner_lib src/astar_nodelet.cpp)




# link python and numpy
# target_link_libraries(mapping ${catkin_LIBRARIES}
# ${PYTHON_LIBRARIES}
# Python3::NumPy
# )
# target_link_libraries(astar_planner ${catkin_LIBRARIES}
# ${PYTHON_LIBRARIES}
# Python3::NumPy
# )
# target_link_libraries(astar_planner_test ${catkin_LIBRARIES}
# ${PYTHON_LIBRARIES}
# Python3::NumPy
# )
# target_link_libraries(dsa_cpp ${catkin_LIBRARIES}
# 	${PYTHON_LIBRARIES}
# 	Python3::NumPy
# 	)
# target_link_libraries(grid_map_play ${catkin_LIBRARIES}
# 	${PYTHON_LIBRARIES}
# 	Python3::NumPy
# 	)
target_link_libraries(planner_lib ${catkin_LIBRARIES}
        ${PYTHON_LIBRARIES}
        Python3::NumPy
        )