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 +1,83 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_constrained_smoother)
+
+set(CMAKE_BUILD_TYPE Release) # significant Ceres optimization speedup
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(angles REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
+
+set(CMAKE_CXX_STANDARD 17)
+
+if(${CERES_VERSION} VERSION_LESS_EQUAL 2.0.0)
+  add_definitions(-DUSE_OLD_CERES_API)
+endif()
+
+nav2_package()
+
+set(library_name nav2_constrained_smoother)
+
+include_directories(
+  include
+  ${CERES_INCLUDES}
+)
+
+set(dependencies
+  angles
+  rclcpp
+  rclcpp_action
+  nav2_msgs
+  nav2_costmap_2d
+  nav2_util
+  nav2_core
+  pluginlib
+)
+
+add_library(${library_name} SHARED src/constrained_smoother.cpp)
+target_link_libraries(${library_name} ${CERES_LIBRARIES})
+# prevent pluginlib from using boost
+target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+ament_target_dependencies(${library_name} ${dependencies})
+
+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)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(test)
+endif()
+
+install(
+  TARGETS
+    ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${dependencies})
+
+pluginlib_export_plugin_description_file(nav2_core nav2_constrained_smoother.xml)
+
+ament_package()