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 +1,80 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_graceful_controller)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(nav_2d_utils REQUIRED)
+find_package(angles REQUIRED)
+
+nav2_package()
+
+include_directories(
+  include
+)
+
+set(dependencies
+  rclcpp
+  geometry_msgs
+  nav2_costmap_2d
+  pluginlib
+  nav_msgs
+  nav2_util
+  nav2_core
+  tf2
+  tf2_geometry_msgs
+  nav_2d_utils
+  angles
+)
+
+# Add Smooth Control Law as library
+add_library(smooth_control_law SHARED src/smooth_control_law.cpp)
+ament_target_dependencies(smooth_control_law ${dependencies})
+
+# Add Graceful Controller
+set(library_name nav2_graceful_controller)
+
+add_library(${library_name} SHARED
+  src/graceful_controller.cpp
+  src/parameter_handler.cpp
+  src/path_handler.cpp
+  src/utils.cpp
+)
+
+target_link_libraries(${library_name} smooth_control_law)
+ament_target_dependencies(${library_name} ${dependencies})
+
+install(TARGETS smooth_control_law ${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)
+
+  # the following line skips the linter which checks for copyrights
+  set(ament_cmake_copyright_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(smooth_control_law ${library_name})
+ament_export_dependencies(${dependencies})
+
+pluginlib_export_plugin_description_file(nav2_core graceful_controller_plugin.xml)
+
+ament_package()