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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2)
project(heuristic_planners)
add_compile_options(-std=gnu++17 -Wall )
option(BUILD_DOC "Build documentation " ON)
option(BUILD_ROS_SUPPORT "Build with ROS Support" ON)
option(OPTIMIZE_FLAG "Enable Compiler Optimization for Runtime Performance" ON)
option(BUILD_DEBUG "Build debug features " OFF)
option(BUILD_COMPUTE_STATS "Build Algorithms with statistics" ON)
option(BUILD_VOROCPP "Build voro++ features " OFF)
if(OPTIMIZE_FLAG)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2")
else()
add_compile_options(-fsanitize=address,undefined -static-libasan -g3)
endif()
if(BUILD_COMPUTE_STATS)
add_compile_definitions(COMPUTE_STATISTICS)
endif()
if(BUILD_DOC)
# check if Doxygen is installed
find_package(Doxygen)
if (DOXYGEN_FOUND)
# set input and output files
set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile)
set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
# request to configure the file
configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
message("Doxygen build started")
# note the option ALL which allows to build the docs together with the application
add_custom_target( doc_doxygen ALL
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
COMMENT "Generating API documentation with Doxygen"
VERBATIM )
else (DOXYGEN_FOUND)
message("Doxygen need to be installed to generate the doxygen documentation")
endif (DOXYGEN_FOUND)
endif()
unset(BUILD_DOC CACHE)
find_package(Boost)
if(BUILD_ROS_SUPPORT)
add_compile_definitions(ROS)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
std_msgs
geometry_msgs
nav_msgs
visualization_msgs
message_generation
rospy
roscpp
pcl_conversions
pcl_ros
octomap_ros
costmap_2d
sensor_msgs
)
#Eigen is used to calculate metrics parameters
find_package (Eigen3 REQUIRED NO_MODULE)
find_package(OpenSSL REQUIRED)
####### TORCH DIR SHOULD BE SET TO LIBTORCH FOLDER ########
set(Torch_DIR "/home/ros/libtorch/share/cmake/Torch")
find_package(Torch REQUIRED)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
find_package(Ceres REQUIRED)
if(BUILD_DEBUG)
add_definitions(-DPUB_EXPLORED_NODES)
endif()
unset(BUILD_DEBUG CACHE)
################################################
## Declare ROS messages, services and actions ##
################################################
catkin_python_setup()
## Add message files
add_message_files(
FILES
Vec3i.msg
CoordinateList.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
GetPath.srv
SetAlgorithm.srv
ShareWeights.srv
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs std_msgs
)
###################################
## 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 AlgorithmBase AStar AStarM1 AStarM2 AStarSIREN ThetaStar ThetaStarM1 ThetaStarM2 ThetaStarSIREN LazyThetaStar LazyThetaStarM1 LazyThetaStarM1Mod LazyThetaStarM2 LazyThetaStarSIREN
#
CATKIN_DEPENDS std_msgs visualization_msgs geometry_msgs nav_msgs rospy roscpp message_runtime costmap_2d sensor_msgs pcl_ros pcl_conversions
# DEPENDS system_lib
)
endif()
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${TORCH_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6
)
if( BUILD_VOROCPP )
list(APPEND VORO_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/voro++.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/cell.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/c_loops.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/common.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/container_prd.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/container.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/pre_container.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/unitcell.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/v_base.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/v_compute.cc
${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6/src/wall.cc
)
add_library(Voro++ STATIC ${VORO_SOURCES})
list(APPEND ${PROJECT_NAME}_LIBRARIES Voro++)
list(APPEND ${PROJECT_NAME}_TARGETS voro++)
add_executable(voro++ include/voro++-0.4.6/src/cmd_line.cc)
target_link_libraries(voro++ Voro++)
endif()
##This is True by default but it's good to have it here as a reminder
set(BUILD_SHARED_LIBS TRUE)
list(APPEND ${PROJECT_NAME}_UTILS_SOURCES src/utils/geometry_utils.cpp
src/utils/heuristic.cpp
src/utils/LineOfSight.cpp
src/utils/utils.cpp
src/utils/metrics.cpp
src/utils/FCNet.cpp
src/utils/CeresOpt.cpp
)
if(BUILD_ROS_SUPPORT)
list(APPEND ${PROJECT_NAME}_UTILS_SOURCES src/utils/ros/ROSInterfaces.cpp)
endif()
add_library(AlgorithmBase src/Planners/AlgorithmBase.cpp
${${PROJECT_NAME}_UTILS_SOURCES})
add_library(AStar src/Planners/AStar.cpp
src/Planners/AlgorithmBase.cpp
${${PROJECT_NAME}_UTILS_SOURCES}
)
add_library(AStarM1 src/Planners/AStarM1.cpp )
add_library(AStarM2 src/Planners/AStarM2.cpp )
add_library(AStarSIREN src/Planners/AStarSIREN.cpp )
add_library(ThetaStar src/Planners/ThetaStar.cpp )
add_library(ThetaStarM1 src/Planners/ThetaStarM1.cpp )
add_library(ThetaStarM2 src/Planners/ThetaStarM2.cpp )
add_library(ThetaStarSIREN src/Planners/ThetaStarSIREN.cpp )
add_library(LazyThetaStar src/Planners/LazyThetaStar.cpp )
add_library(LazyThetaStarM1 src/Planners/LazyThetaStarM1.cpp )
add_library(LazyThetaStarM1Mod src/Planners/LazyThetaStarM1Mod.cpp )
add_library(LazyThetaStarM2 src/Planners/LazyThetaStarM2.cpp )
add_library(LazyThetaStarSIREN src/Planners/LazyThetaStarSIREN.cpp )
list(APPEND ${PROJECT_NAME}_LIBRARIES AlgorithmBase AStar AStarM1 AStarM2 AStarSIREN ThetaStar ThetaStarM1 ThetaStarM2 ThetaStarSIREN LazyThetaStar LazyThetaStarM1 LazyThetaStarM1Mod LazyThetaStarM2 LazyThetaStarSIREN)
target_link_libraries(${${PROJECT_NAME}_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${TORCH_LIBRARIES} ${CERES_LIBRARIES})
add_dependencies( ${${PROJECT_NAME}_LIBRARIES} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
list(APPEND ${PROJECT_NAME}_TARGETS ${${PROJECT_NAME}_LIBRARIES})
if(BUILD_ROS_SUPPORT)
add_executable(planner_ros_node src/ROS/planner_ros_node.cpp )
##set_property(TARGET planner_ros_node PROPERTY CXX_STANDARD 17)
add_dependencies(planner_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_LIBRARIES})
target_link_libraries(planner_ros_node ${catkin_LIBRARIES} ${TORCH_LIBRARIES} ${${PROJECT_NAME}_LIBRARIES} -lstdc++fs Eigen3::Eigen -lcrypto -lssl)
list(APPEND ${PROJECT_NAME}_TARGETS planner_ros_node)
add_executable(local_planner_ros_node src/ROS/local_planner_ros_node.cpp )
add_dependencies(local_planner_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_LIBRARIES})
target_link_libraries(local_planner_ros_node ${catkin_LIBRARIES} ${${PROJECT_NAME}_LIBRARIES} -lstdc++fs Eigen3::Eigen -lcrypto -lssl)
list(APPEND ${PROJECT_NAME}_TARGETS local_planner_ros_node)
#############
## Install ##
#############
## Mark executables and/or libraries for installation
install(TARGETS ${${PROJECT_NAME}_TARGETS}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
catkin_install_python(PROGRAMS scripts/test_algorithms.py
scripts/test_algorithms_compare.py
scripts/test_algorithms_performance.py
scripts/test_algorithms_pseudo_random_paths.py
scripts/compare_trajectories_rviz.py
scripts/plan_caller.py
scripts/generate2d_random_map.py
setup.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.hpp"
)
## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
install(DIRECTORY rviz/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz)
install(DIRECTORY resources/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/resources
PATTERN ".gridm" EXCLUDE)
else()
install(DIRECTORY include/
DESTINATION ${CMAKE_INSTALL_PREFIX}/include
FILES_MATCHING PATTERN "*.hpp"
)
install(TARGETS ${${PROJECT_NAME}_TARGETS}
DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
)
endif()
unset(BUILD_ROS_SUPPORT CACHE)