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 +1,95 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_lifecycle_manager)
+
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(bondcpp REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+
+nav2_package()
+
+include_directories(
+  include
+)
+
+set(library_name ${PROJECT_NAME}_core)
+
+add_library(${library_name} SHARED
+  src/lifecycle_manager.cpp
+  src/lifecycle_manager_client.cpp
+)
+
+set(dependencies
+  geometry_msgs
+  lifecycle_msgs
+  nav2_msgs
+  nav2_util
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  rclcpp_components
+  std_msgs
+  std_srvs
+  tf2_geometry_msgs
+  bondcpp
+  diagnostic_updater
+)
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+add_executable(lifecycle_manager
+  src/main.cpp
+)
+
+target_link_libraries(lifecycle_manager
+  ${library_name}
+)
+
+ament_target_dependencies(lifecycle_manager
+  ${dependencies}
+)
+
+rclcpp_components_register_nodes(${library_name} "nav2_lifecycle_manager::LifecycleManager")
+
+install(TARGETS
+  ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS
+  lifecycle_manager
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/ DESTINATION include/)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+
+  add_subdirectory(test)
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${dependencies})
+
+ament_package()