Port example script for terrain_planner_benchmark

Author: Jaeyoung-Lim

terrain_planner/launch/test_ompl_dubins_to_circle.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <arg name="visualization" default="true"/>
+
+    <!-- <node pkg="tf" type="static_transform_publisher" name="world_map" args="0 0 0 0 0 0 world map 10"/> -->
+    <node pkg="terrain_planner" exec="test_ompl_dubins_to_circle" name="test_ompl_dubins_to_circle">
+        <param name="map_path" value="$(find-pkg-share terrain_planner)/../resources/sertig.tif"/>
+        <param name="color_file_path" value="$(find-pkg-share terrain_planner)/../resources/sertig_color.tif"/>
+    </node>
+    <!-- <group if="$(arg visualization)">
+        <node type="rviz2" name="rviz2" pkg="rviz2" args="-d $(find terrain_planner)/launch/config_dubins_to_circle.rviz" />
+    </group> -->
+</launch>

terrain_planner/launch/test_ompl_dubins_to_circle_launch.xml

@@ -29,13 +29,19 @@ find_package(grid_map_geo REQUIRED)
 find_package(terrain_navigation REQUIRED)
 find_package(Boost REQUIRED) # Workaround for terrain_planner not exporting this correctly
 find_package(terrain_planner REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
 add_library(${PROJECT_NAME})
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_include_directories(${PROJECT_NAME}
   PUBLIC 
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ${geometry_msgs_TARGETS}
 )
 
 add_executable(terrain_planner_benchmark_node)
@@ -45,9 +51,13 @@ add_executable(test_rrt_replanning_node EXCLUDE_FROM_ALL)
 add_executable(surface_visualization EXCLUDE_FROM_ALL)
 add_executable(test_dubins_classification EXCLUDE_FROM_ALL)
 add_executable(run_replay EXCLUDE_FROM_ALL)
-add_executable(test_rrt_circle_goal EXCLUDE_FROM_ALL)
+add_executable(test_rrt_circle_goal)
 add_subdirectory(src)
 
+target_link_libraries(test_rrt_circle_goal PUBLIC
+  ${PROJECT_NAME}
+)
+
 include(GNUInstallDirs)
 install(
   TARGETS

terrain_planner_benchmark/CMakeLists.txt

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- <node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim1" />
+  <node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim2" />
+  <node pkg="turtlesim" exec="mimic" name="mimic">
+    <remap from="/input/pose" to="/turtlesim1/turtle1/pose" />
+    <remap from="/output/cmd_vel" to="/turtlesim2/turtle1/cmd_vel" />
+  </node> -->
+  <node pkg="terrain_planner_benchmark" exec="test_rrt_circle_goal" name="rrt_planner">
+  </node>
+</launch>
+<!-- <?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <arg name="visualization" default="true"/>
+    <arg name="location" default="gotthard"/>
+
+    <node pkg="tf" type="static_transform_publisher" name="world_map" args="0 0 0 0 0 0 world map 10"/>
+
+    <group if="$(arg visualization)">
+        <node type="rviz" name="rviz" pkg="rviz" args="-d $(find terrain_planner)/launch/config_ompl.rviz" />
+    </group>
+</launch> -->

terrain_planner_benchmark/launch/test_ompl_rrt_circle.launch

@@ -25,6 +25,7 @@
   <build_depend>terrain_navigation</build_depend>
   <build_depend>ompl</build_depend>
   <build_depend>terrain_planner</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <exec_depend>python3-gdal</exec_depend>
 
   <export>