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CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(behavior_path_planner)
find_package(autoware_cmake REQUIRED)
autoware_package()
find_package(OpenCV REQUIRED)
find_package(magic_enum CONFIG REQUIRED)
set(COMPILE_WITH_OLD_ARCHITECTURE TRUE)
set(common_src
src/utilities.cpp
src/path_utilities.cpp
src/steering_factor_interface.cpp
src/behavior_path_planner_node.cpp
src/scene_module/scene_module_visitor.cpp
src/scene_module/avoidance/avoidance_module.cpp
src/scene_module/pull_out/pull_out_module.cpp
src/scene_module/pull_over/pull_over_module.cpp
src/scene_module/side_shift/side_shift_module.cpp
src/scene_module/lane_change/lane_change_module.cpp
src/turn_signal_decider.cpp
src/util/avoidance/util.cpp
src/util/lane_change/util.cpp
src/util/side_shift/util.cpp
src/util/pull_over/util.cpp
src/util/pull_over/shift_pull_over.cpp
src/util/pull_over/geometric_pull_over.cpp
src/util/pull_over/freespace_pull_over.cpp
src/util/pull_over/goal_searcher.cpp
src/util/pull_out/util.cpp
src/util/pull_out/shift_pull_out.cpp
src/util/pull_out/geometric_pull_out.cpp
src/util/path_shifter/path_shifter.cpp
src/util/drivable_area_expansion/drivable_area_expansion.cpp
src/util/drivable_area_expansion/map_utils.cpp
src/util/drivable_area_expansion/footprints.cpp
src/util/drivable_area_expansion/expansion.cpp
src/util/geometric_parallel_parking/geometric_parallel_parking.cpp
src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
src/marker_util/debug_utilities.cpp
src/marker_util/avoidance/debug.cpp
src/marker_util/lane_change/debug.cpp
)
if(COMPILE_WITH_OLD_ARCHITECTURE)
ament_auto_add_library(behavior_path_planner_node SHARED
src/behavior_tree_manager.cpp
src/scene_module/scene_module_bt_node_interface.cpp
src/scene_module/lane_following/lane_following_module.cpp
src/scene_module/lane_change/external_request_lane_change_module.cpp
src/scene_module/pull_over/pull_over_module.cpp
${common_src}
)
target_compile_definitions(behavior_path_planner_node PRIVATE USE_OLD_ARCHITECTURE)
message(WARNING "Build behavior_path_planner with OLD framework...")
else()
ament_auto_add_library(behavior_path_planner_node SHARED
src/planner_manager.cpp
src/scene_module/avoidance/manager.cpp
src/scene_module/pull_out/manager.cpp
src/scene_module/pull_over/manager.cpp
src/scene_module/side_shift/manager.cpp
src/scene_module/lane_change/manager.cpp
${common_src}
)
message(WARNING "Build behavior_path_planner with NEW framework...")
endif()
target_include_directories(behavior_path_planner_node SYSTEM PUBLIC
${EIGEN3_INCLUDE_DIR}
)
target_link_libraries(behavior_path_planner_node
${OpenCV_LIBRARIES}
)
rclcpp_components_register_node(behavior_path_planner_node
PLUGIN "behavior_path_planner::BehaviorPathPlannerNode"
EXECUTABLE behavior_path_planner
)
if(BUILD_TESTING)
ament_add_ros_isolated_gmock(test_${CMAKE_PROJECT_NAME}_utilities
test/input.cpp
test/test_utilities.cpp
test/test_drivable_area_expansion.cpp
)
target_link_libraries(test_${CMAKE_PROJECT_NAME}_utilities
behavior_path_planner_node
)
ament_add_ros_isolated_gmock(test_${CMAKE_PROJECT_NAME}_avoidance_module
test/test_avoidance_utils.cpp
)
target_link_libraries(test_${CMAKE_PROJECT_NAME}_avoidance_module
behavior_path_planner_node
)
ament_add_ros_isolated_gmock(test_${CMAKE_PROJECT_NAME}_turn_signal
test/test_turn_signal.cpp
)
target_link_libraries(test_${CMAKE_PROJECT_NAME}_turn_signal
behavior_path_planner_node
)
endif()
ament_auto_package(
INSTALL_TO_SHARE
config
launch
)