2.2.5.1. Path Planning ROS Package

2.2.5.1.1. path_planning

Package for Path Planning

Maintainers:

• Birk Blumhoff

• Ole Kettern

• Nechirvan Zibar

Version:

3.0.0

License:

TODO

2.2.5.1.1.1. Dependencies

Build:

• roslib

• roscpp

• rospy

• std_msgs

• utilities

Build export:

• roslib

• roscpp

• rospy

• std_msgs

• utilities

Build tool:

catkin

Execution:

• roslib

• roscpp

• rospy

• std_msgs

• utilities

2.2.5.1.1.2. Package definition files

2.2.5.1.1.2.1. CMakeLists.txt

cmake_minimum_required(VERSION 3.21.0)
project(path_planning VERSION 3.0.0)

if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
endif()

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Set optimization for Debug and Release builds
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g -Wall")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")

find_package(catkin REQUIRED COMPONENTS
  roslib
  roscpp
  rospy
  std_msgs
  utilities
)

find_package(Eigen3 REQUIRED)
find_package(Python3 COMPONENTS Development REQUIRED)

catkin_package(
  CATKIN_DEPENDS roslib roscpp rospy std_msgs utilities
)

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${CMAKE_CURRENT_SOURCE_DIR}/include
  ${EIGEN3_INCLUDE_DIR}
  ${Python3_INCLUDE_DIRS}
)

add_library(path_planning_lib src/path_planning_lib.cpp)
add_library(splines src/splines.cpp)
target_link_libraries(path_planning_lib ${catkin_LIBRARIES})

add_executable(path_planning src/path_planning.cpp)
target_link_libraries(path_planning ${catkin_LIBRARIES} path_planning_lib splines)

# Add the test executable
add_executable(path_planning_test test/path_planning_test.cpp)
target_link_libraries(path_planning_test ${catkin_LIBRARIES} path_planning_lib splines)

2.2.5.1.1.2.2. package.xml

<?xml version="1.0"?>
<package format="2">
  <name>path_planning</name>
  <version>3.0.0</version>
  <description>Package for Path Planning</description>

  <maintainer email="birk.blumhoff@curemannheim.de">Birk Blumhoff</maintainer>
  <maintainer email="ole.kettern@curemannheim.de">Ole Kettern</maintainer>
  <maintainer email="nechirvan.zibar@curemannheim.de">Nechirvan Zibar</maintainer>

  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roslib</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>utilities</build_depend>
  <build_export_depend>roslib</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>utilities</build_export_depend>
  <exec_depend>roslib</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>utilities</exec_depend>

  <export>
  </export>
</package>