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 +1,120 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_controller)
+
+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(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav_2d_utils REQUIRED)
+find_package(nav_2d_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+
+nav2_package()
+
+include_directories(
+  include
+)
+
+set(executable_name controller_server)
+
+add_executable(${executable_name}
+  src/main.cpp
+)
+
+set(library_name ${executable_name}_core)
+
+add_library(${library_name} SHARED
+  src/controller_server.cpp
+)
+
+set(dependencies
+  angles
+  rclcpp
+  rclcpp_action
+  rclcpp_components
+  std_msgs
+  nav2_msgs
+  nav_2d_utils
+  nav_2d_msgs
+  nav2_util
+  nav2_core
+  pluginlib
+)
+
+add_library(simple_progress_checker SHARED plugins/simple_progress_checker.cpp)
+ament_target_dependencies(simple_progress_checker ${dependencies})
+
+add_library(pose_progress_checker SHARED plugins/pose_progress_checker.cpp)
+target_link_libraries(pose_progress_checker simple_progress_checker)
+ament_target_dependencies(pose_progress_checker ${dependencies})
+
+add_library(simple_goal_checker SHARED plugins/simple_goal_checker.cpp)
+ament_target_dependencies(simple_goal_checker ${dependencies})
+
+add_library(stopped_goal_checker SHARED plugins/stopped_goal_checker.cpp)
+target_link_libraries(stopped_goal_checker simple_goal_checker)
+ament_target_dependencies(stopped_goal_checker ${dependencies})
+
+add_library(position_goal_checker SHARED plugins/position_goal_checker.cpp)
+ament_target_dependencies(position_goal_checker ${dependencies})
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  set(ament_cmake_copyright_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(plugins/test)
+endif()
+
+ament_target_dependencies(${executable_name}
+  ${dependencies}
+)
+
+target_link_libraries(${executable_name} ${library_name})
+
+rclcpp_components_register_nodes(${library_name} "nav2_controller::ControllerServer")
+
+install(TARGETS simple_progress_checker pose_progress_checker simple_goal_checker stopped_goal_checker position_goal_checker ${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)
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(simple_progress_checker
+  pose_progress_checker
+  simple_goal_checker
+  stopped_goal_checker
+  position_goal_checker
+  ${library_name})
+ament_export_dependencies(${dependencies})
+pluginlib_export_plugin_description_file(nav2_core plugins.xml)
+
+ament_package()