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 +1,63 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_util)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(bondcpp REQUIRED)
+find_package(bond REQUIRED)
+find_package(action_msgs REQUIRED)
+
+set(dependencies
+    nav2_msgs
+    tf2_ros
+    tf2
+    tf2_geometry_msgs
+    geometry_msgs
+    nav_msgs
+    rclcpp
+    lifecycle_msgs
+    rclcpp_action
+    rclcpp_lifecycle
+    bondcpp
+    bond
+    action_msgs
+    rcl_interfaces
+)
+
+nav2_package()
+
+include_directories(include)
+
+set(library_name ${PROJECT_NAME}_core)
+add_subdirectory(src)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(test)
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${dependencies})
+
+ament_package()