add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,114 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_amcl)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(message_filters REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+
+nav2_package()
+
+include_directories(
+  include
+)
+
+include(CheckSymbolExists)
+check_symbol_exists(drand48 stdlib.h HAVE_DRAND48)
+
+add_subdirectory(src/pf)
+add_subdirectory(src/map)
+add_subdirectory(src/motion_model)
+add_subdirectory(src/sensors)
+
+set(executable_name amcl)
+
+add_executable(${executable_name}
+  src/main.cpp
+)
+
+set(library_name ${executable_name}_core)
+
+add_library(${library_name} SHARED
+  src/amcl_node.cpp
+)
+
+target_include_directories(${library_name} PRIVATE src/include)
+
+if(HAVE_DRAND48)
+  target_compile_definitions(${library_name} PRIVATE "HAVE_DRAND48")
+endif()
+
+set(dependencies
+  rclcpp
+  rclcpp_lifecycle
+  rclcpp_components
+  message_filters
+  tf2_geometry_msgs
+  geometry_msgs
+  nav_msgs
+  sensor_msgs
+  std_srvs
+  tf2_ros
+  tf2
+  nav2_util
+  nav2_msgs
+  pluginlib
+)
+
+ament_target_dependencies(${executable_name}
+  ${dependencies}
+)
+
+target_link_libraries(${executable_name}
+  ${library_name}
+)
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+target_link_libraries(${library_name}
+  map_lib pf_lib sensors_lib
+)
+
+rclcpp_components_register_nodes(${library_name} "nav2_amcl::AmclNode")
+
+install(TARGETS ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name} pf_lib sensors_lib motions_lib map_lib)
+ament_export_dependencies(${dependencies})
+pluginlib_export_plugin_description_file(nav2_amcl plugins.xml)
+ament_package()