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 +1,126 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_rviz_plugins)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+# Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_lifecycle_manager REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Core Gui Widgets Test Concurrent)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rviz_common REQUIRED)
+find_package(rviz_default_plugins REQUIRED)
+find_package(rviz_ogre_vendor REQUIRED)
+find_package(rviz_rendering REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+
+set(nav2_rviz_plugins_headers_to_moc
+  include/nav2_rviz_plugins/goal_pose_updater.hpp
+  include/nav2_rviz_plugins/goal_common.hpp
+  include/nav2_rviz_plugins/goal_tool.hpp
+  include/nav2_rviz_plugins/nav2_panel.hpp
+  include/nav2_rviz_plugins/particle_cloud_display/flat_weighted_arrows_array.hpp
+  include/nav2_rviz_plugins/particle_cloud_display/particle_cloud_display.hpp
+)
+
+include_directories(
+  include
+)
+
+set(library_name ${PROJECT_NAME})
+
+add_library(${library_name} SHARED
+  src/goal_tool.cpp
+  src/nav2_panel.cpp
+  src/particle_cloud_display/flat_weighted_arrows_array.cpp
+  src/particle_cloud_display/particle_cloud_display.cpp
+  ${nav2_rviz_plugins_headers_to_moc}
+)
+
+set(dependencies
+  geometry_msgs
+  nav2_util
+  nav2_lifecycle_manager
+  nav2_msgs
+  nav_msgs
+  pluginlib
+  Qt5
+  rclcpp
+  rclcpp_lifecycle
+  rviz_common
+  rviz_default_plugins
+  rviz_ogre_vendor
+  rviz_rendering
+  std_msgs
+  tf2_geometry_msgs
+)
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+target_include_directories(${library_name} PUBLIC
+  ${Qt5Widgets_INCLUDE_DIRS}
+  ${OGRE_INCLUDE_DIRS}
+)
+
+target_link_libraries(${library_name}
+  rviz_common::rviz_common
+)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+# TODO: Make this specific to this project (not rviz default plugins)
+target_compile_definitions(${library_name} PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+install(
+  TARGETS ${library_name}
+  EXPORT ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_targets(${library_name} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  Qt5
+  rviz_common
+  geometry_msgs
+  map_msgs
+  nav_msgs
+  rclcpp
+)
+
+ament_package()