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 +1,157 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_behaviors)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(nav2_behavior_tree REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(pluginlib REQUIRED)
+
+nav2_package()
+
+include_directories(
+  include
+)
+
+set(library_name behavior_server_core)
+set(executable_name behavior_server)
+
+set(dependencies
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  rclcpp_components
+  std_msgs
+  nav2_util
+  nav2_behavior_tree
+  nav2_msgs
+  nav_msgs
+  tf2
+  tf2_geometry_msgs
+  geometry_msgs
+  nav2_costmap_2d
+  nav2_core
+  pluginlib
+)
+
+# plugins
+add_library(nav2_spin_behavior SHARED
+  plugins/spin.cpp
+)
+
+ament_target_dependencies(nav2_spin_behavior
+  ${dependencies}
+)
+
+add_library(nav2_wait_behavior SHARED
+plugins/wait.cpp
+)
+
+ament_target_dependencies(nav2_wait_behavior
+${dependencies}
+)
+
+add_library(nav2_drive_on_heading_behavior SHARED
+  plugins/drive_on_heading.cpp
+)
+
+ament_target_dependencies(nav2_drive_on_heading_behavior
+  ${dependencies}
+)
+
+add_library(nav2_back_up_behavior SHARED
+  plugins/back_up.cpp
+)
+
+ament_target_dependencies(nav2_back_up_behavior
+  ${dependencies}
+)
+
+add_library(nav2_assisted_teleop_behavior SHARED
+  plugins/assisted_teleop.cpp
+)
+
+ament_target_dependencies(nav2_assisted_teleop_behavior
+  ${dependencies}
+)
+
+pluginlib_export_plugin_description_file(nav2_core behavior_plugin.xml)
+
+# Library
+add_library(${library_name} SHARED
+  src/behavior_server.cpp
+)
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+# Executable
+add_executable(${executable_name}
+  src/main.cpp
+)
+
+target_link_libraries(${executable_name} ${library_name})
+
+ament_target_dependencies(${executable_name}
+  ${dependencies}
+)
+
+rclcpp_components_register_nodes(${library_name} "behavior_server::BehaviorServer")
+
+install(TARGETS ${library_name}
+                nav2_spin_behavior
+                nav2_wait_behavior
+                nav2_assisted_teleop_behavior
+                nav2_drive_on_heading_behavior
+                nav2_back_up_behavior
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+install(FILES behavior_plugin.xml
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(DIRECTORY plugins/
+  DESTINATION share/${PROJECT_NAME}/plugins/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(test)
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name}
+  nav2_spin_behavior
+  nav2_wait_behavior
+  nav2_assisted_teleop_behavior
+  nav2_drive_on_heading_behavior
+  nav2_back_up_behavior
+)
+ament_export_dependencies(${dependencies})
+ament_package()