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 +1,194 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_costmap_2d)
+
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(laser_geometry REQUIRED)
+find_package(map_msgs REQUIRED)
+find_package(message_filters REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav2_util)
+find_package(nav2_voxel_grid REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rmw REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_sensor_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(angles REQUIRED)
+
+remove_definitions(-DDISABLE_LIBUSB-1.0)
+find_package(Eigen3 3.3 REQUIRED)
+
+nav2_package()
+
+add_library(nav2_costmap_2d_core SHARED
+  src/array_parser.cpp
+  src/costmap_2d.cpp
+  src/layer.cpp
+  src/layered_costmap.cpp
+  src/costmap_2d_ros.cpp
+  src/costmap_2d_publisher.cpp
+  src/costmap_math.cpp
+  src/footprint.cpp
+  src/costmap_layer.cpp
+  src/observation_buffer.cpp
+  src/clear_costmap_service.cpp
+  src/footprint_collision_checker.cpp
+  plugins/costmap_filters/costmap_filter.cpp
+)
+add_library(${PROJECT_NAME}::nav2_costmap_2d_core ALIAS nav2_costmap_2d_core)
+
+target_include_directories(nav2_costmap_2d_core
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+
+set(dependencies
+  geometry_msgs
+  laser_geometry
+  map_msgs
+  message_filters
+  nav2_msgs
+  nav2_util
+  nav2_voxel_grid
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  sensor_msgs
+  std_msgs
+  std_srvs
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
+  tf2_sensor_msgs
+  visualization_msgs
+  angles
+)
+
+ament_target_dependencies(nav2_costmap_2d_core
+  ${dependencies}
+)
+target_link_libraries(nav2_costmap_2d_core Eigen3::Eigen)
+
+add_library(layers SHARED
+  plugins/inflation_layer.cpp
+  plugins/static_layer.cpp
+  plugins/obstacle_layer.cpp
+  src/observation_buffer.cpp
+  plugins/voxel_layer.cpp
+  plugins/range_sensor_layer.cpp
+  plugins/denoise_layer.cpp
+)
+add_library(${PROJECT_NAME}::layers ALIAS layers)
+ament_target_dependencies(layers
+  ${dependencies}
+)
+target_link_libraries(layers
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+)
+
+add_library(filters SHARED
+  plugins/costmap_filters/keepout_filter.cpp
+  plugins/costmap_filters/speed_filter.cpp
+  plugins/costmap_filters/binary_filter.cpp
+)
+add_library(${PROJECT_NAME}::filters ALIAS filters)
+
+
+ament_target_dependencies(filters
+  ${dependencies}
+)
+target_link_libraries(filters
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+)
+
+add_library(nav2_costmap_2d_client SHARED
+  src/footprint_subscriber.cpp
+  src/costmap_subscriber.cpp
+  src/costmap_topic_collision_checker.cpp
+)
+add_library(${PROJECT_NAME}::nav2_costmap_2d_client ALIAS nav2_costmap_2d_client)
+
+ament_target_dependencies(nav2_costmap_2d_client
+  ${dependencies}
+)
+
+target_link_libraries(nav2_costmap_2d_client
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+)
+
+add_executable(nav2_costmap_2d_markers src/costmap_2d_markers.cpp)
+target_link_libraries(nav2_costmap_2d_markers
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+)
+
+ament_target_dependencies(nav2_costmap_2d_markers
+  ${dependencies}
+)
+
+add_executable(nav2_costmap_2d_cloud src/costmap_2d_cloud.cpp)
+target_link_libraries(nav2_costmap_2d_cloud
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+)
+
+add_executable(nav2_costmap_2d src/costmap_2d_node.cpp)
+ament_target_dependencies(nav2_costmap_2d
+  ${dependencies}
+)
+
+target_link_libraries(nav2_costmap_2d
+  ${PROJECT_NAME}::nav2_costmap_2d_core
+  ${PROJECT_NAME}::layers
+  ${PROJECT_NAME}::filters
+)
+
+install(TARGETS
+  layers
+  filters
+  nav2_costmap_2d_core
+  nav2_costmap_2d_client
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS nav2_costmap_2d_markers nav2_costmap_2d_cloud nav2_costmap_2d
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(FILES costmap_plugins.xml
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(test)
+  pluginlib_export_plugin_description_file(nav2_costmap_2d test/regression/order_layer.xml)
+endif()
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${dependencies})
+pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
+ament_package()