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_smac_planner)
+
+set(CMAKE_BUILD_TYPE Release) #Debug, Release
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(angles REQUIRED)
+find_package(ompl REQUIRED)
+find_package(OpenMP REQUIRED)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+
+if(MSVC)
+  add_compile_definitions(_USE_MATH_DEFINES)
+else()
+  add_compile_options(-O3 -Wextra -Wdeprecated -fPIC)
+endif()
+
+include_directories(
+  include
+  ${OMPL_INCLUDE_DIRS}
+  ${OpenMP_INCLUDE_DIRS}
+)
+
+find_package(OpenMP)
+if(OPENMP_FOUND)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
+endif()
+
+set(library_name nav2_smac_planner)
+
+set(dependencies
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  std_msgs
+  visualization_msgs
+  nav2_util
+  nav2_msgs
+  nav_msgs
+  geometry_msgs
+  builtin_interfaces
+  tf2_ros
+  nav2_costmap_2d
+  nav2_core
+  pluginlib
+  angles
+  eigen3_cmake_module
+)
+
+# Hybrid plugin
+add_library(${library_name} SHARED
+  src/smac_planner_hybrid.cpp
+  src/a_star.cpp
+  src/collision_checker.cpp
+  src/smoother.cpp
+  src/analytic_expansion.cpp
+  src/node_hybrid.cpp
+  src/node_lattice.cpp
+  src/costmap_downsampler.cpp
+  src/node_2d.cpp
+  src/node_basic.cpp
+)
+
+target_link_libraries(${library_name} ${OMPL_LIBRARIES} ${OpenMP_LIBRARIES}  OpenMP::OpenMP_CXX)
+target_include_directories(${library_name} PUBLIC ${Eigen3_INCLUDE_DIRS})
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+# 2D plugin
+add_library(${library_name}_2d SHARED
+  src/smac_planner_2d.cpp
+  src/a_star.cpp
+  src/smoother.cpp
+  src/collision_checker.cpp
+  src/analytic_expansion.cpp
+  src/node_hybrid.cpp
+  src/node_lattice.cpp
+  src/costmap_downsampler.cpp
+  src/node_2d.cpp
+  src/node_basic.cpp
+)
+
+target_link_libraries(${library_name}_2d ${OMPL_LIBRARIES})
+target_include_directories(${library_name}_2d PUBLIC ${Eigen3_INCLUDE_DIRS})
+
+ament_target_dependencies(${library_name}_2d
+  ${dependencies}
+)
+
+# Lattice plugin
+add_library(${library_name}_lattice SHARED
+  src/smac_planner_lattice.cpp
+  src/a_star.cpp
+  src/smoother.cpp
+  src/collision_checker.cpp
+  src/analytic_expansion.cpp
+  src/node_hybrid.cpp
+  src/node_lattice.cpp
+  src/costmap_downsampler.cpp
+  src/node_2d.cpp
+  src/node_basic.cpp
+)
+
+target_link_libraries(${library_name}_lattice ${OMPL_LIBRARIES})
+target_include_directories(${library_name}_lattice PUBLIC ${Eigen3_INCLUDE_DIRS})
+
+ament_target_dependencies(${library_name}_lattice
+  ${dependencies}
+)
+
+pluginlib_export_plugin_description_file(nav2_core smac_plugin_hybrid.xml)
+pluginlib_export_plugin_description_file(nav2_core smac_plugin_2d.xml)
+pluginlib_export_plugin_description_file(nav2_core smac_plugin_lattice.xml)
+
+install(TARGETS ${library_name} ${library_name}_2d ${library_name}_lattice
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+install(DIRECTORY lattice_primitives/sample_primitives DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(AMENT_LINT_AUTO_FILE_EXCLUDE include/nav2_smac_planner/thirdparty/robin_hood.h)
+  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(test)
+endif()
+
+ament_export_include_directories(include ${OMPL_INCLUDE_DIRS})
+ament_export_libraries(${library_name} ${library_name}_2d ${library_name}_lattice)
+ament_export_dependencies(${dependencies})
+ament_package()