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 +1,164 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_map_server)
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake_modules)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(yaml_cpp_vendor REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(GRAPHICSMAGICKCPP REQUIRED)
+
+nav2_package()
+
+include_directories(include)
+
+set(map_server_executable map_server)
+
+set(map_saver_cli_executable map_saver_cli)
+
+set(map_saver_server_executable map_saver_server)
+
+set(costmap_filter_info_server_executable costmap_filter_info_server)
+
+add_executable(${map_server_executable}
+  src/map_server/main.cpp)
+
+add_executable(${map_saver_cli_executable}
+  src/map_saver/main_cli.cpp)
+
+add_executable(${map_saver_server_executable}
+  src/map_saver/main_server.cpp)
+
+add_executable(${costmap_filter_info_server_executable}
+  src/costmap_filter_info/main.cpp)
+
+set(map_io_library_name map_io)
+
+set(library_name ${map_server_executable}_core)
+
+add_library(${map_io_library_name} SHARED
+  src/map_mode.cpp
+  src/map_io.cpp)
+
+add_library(${library_name} SHARED
+  src/map_server/map_server.cpp
+  src/map_saver/map_saver.cpp
+  src/costmap_filter_info/costmap_filter_info_server.cpp)
+
+set(map_io_dependencies
+  yaml_cpp_vendor
+  nav_msgs
+  nav2_util
+  tf2)
+
+set(map_server_dependencies
+  rclcpp
+  rclcpp_lifecycle
+  rclcpp_components
+  nav_msgs
+  nav2_msgs
+  yaml_cpp_vendor
+  std_msgs
+  nav2_util)
+
+set(map_saver_dependencies
+  rclcpp
+  rclcpp_lifecycle
+  nav_msgs
+  nav2_msgs
+  nav2_util)
+
+ament_target_dependencies(${map_server_executable}
+  ${map_server_dependencies})
+
+ament_target_dependencies(${map_saver_cli_executable}
+  ${map_saver_dependencies})
+
+ament_target_dependencies(${map_saver_server_executable}
+  ${map_saver_dependencies})
+
+ament_target_dependencies(${costmap_filter_info_server_executable}
+  ${map_saver_dependencies})
+
+ament_target_dependencies(${library_name}
+  ${map_server_dependencies})
+
+ament_target_dependencies(${map_io_library_name}
+  ${map_io_dependencies})
+
+target_link_libraries(${library_name}
+  ${map_io_library_name})
+
+target_link_libraries(${map_server_executable}
+  ${library_name})
+
+if(WIN32)
+  target_compile_definitions(${map_server_executable} PRIVATE
+    YAML_CPP_DLL)
+endif()
+
+target_link_libraries(${map_saver_cli_executable}
+  ${library_name})
+
+target_link_libraries(${map_saver_server_executable}
+  ${library_name})
+
+target_link_libraries(${costmap_filter_info_server_executable}
+  ${library_name})
+
+target_include_directories(${map_io_library_name} SYSTEM PRIVATE
+  ${GRAPHICSMAGICKCPP_INCLUDE_DIRS})
+
+target_link_libraries(${map_io_library_name}
+  ${GRAPHICSMAGICKCPP_LIBRARIES})
+
+if(WIN32)
+  target_compile_definitions(${map_io_library_name} PRIVATE
+    YAML_CPP_DLL)
+endif()
+
+rclcpp_components_register_nodes(${library_name} "nav2_map_server::CostmapFilterInfoServer")
+rclcpp_components_register_nodes(${library_name} "nav2_map_server::MapSaver")
+rclcpp_components_register_nodes(${library_name} "nav2_map_server::MapServer")
+
+install(TARGETS
+    ${library_name} ${map_io_library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(TARGETS
+    ${map_server_executable} ${map_saver_cli_executable} ${map_saver_server_executable}
+    ${costmap_filter_info_server_executable}
+  RUNTIME DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY include/
+  DESTINATION include/)
+
+install(DIRECTORY launch DESTINATION share/${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)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(test)
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(
+  ${library_name}
+  ${map_io_library_name}
+)
+ament_export_dependencies(${map_io_dependencies} ${map_server_dependencies})
+ament_package()