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 +1,74 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_system_tests)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_map_server REQUIRED)
+find_package(nav2_behavior_tree REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(gazebo_ros_pkgs REQUIRED)
+find_package(nav2_amcl REQUIRED)
+find_package(nav2_lifecycle_manager REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(nav2_navfn_planner REQUIRED)
+find_package(nav2_planner REQUIRED)
+find_package(navigation2)
+find_package(angles REQUIRED)
+find_package(behaviortree_cpp_v3 REQUIRED)
+
+nav2_package()
+
+set(dependencies
+  rclcpp
+  nav2_util
+  nav2_map_server
+  nav2_msgs
+  nav_msgs
+  visualization_msgs
+  nav2_amcl
+  nav2_lifecycle_manager
+  nav2_behavior_tree
+  gazebo_ros_pkgs
+  geometry_msgs
+  std_msgs
+  tf2_geometry_msgs
+  rclpy
+  nav2_planner
+  nav2_navfn_planner
+  angles
+  behaviortree_cpp_v3
+)
+
+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(src/behavior_tree)
+  add_subdirectory(src/planning)
+  add_subdirectory(src/localization)
+  add_subdirectory(src/system)
+  add_subdirectory(src/system_failure)
+  add_subdirectory(src/updown)
+  add_subdirectory(src/waypoint_follower)
+  add_subdirectory(src/behaviors/spin)
+  add_subdirectory(src/behaviors/wait)
+  add_subdirectory(src/behaviors/backup)
+  add_subdirectory(src/behaviors/drive_on_heading)
+  add_subdirectory(src/behaviors/assisted_teleop)
+  add_subdirectory(src/costmap_filters)
+  install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
+
+endif()
+
+ament_package()