add humble-navigation2

navigation2/nav2_velocity_smoother/CMakeLists.txt

@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_velocity_smoother)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+nav2_package()
+
+include_directories(
+  include
+)
+
+set(executable_name velocity_smoother)
+set(library_name ${executable_name}_core)
+
+set(dependencies
+  rclcpp
+  rclcpp_components
+  geometry_msgs
+  nav2_util
+)
+
+# Main library
+add_library(${library_name} SHARED
+  src/velocity_smoother.cpp
+)
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+# Main executable
+add_executable(${executable_name}
+  src/main.cpp
+)
+ament_target_dependencies(${executable_name}
+  ${dependencies}
+)
+target_link_libraries(${executable_name} ${library_name})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  set(ament_cmake_copyright_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+endif()
+
+rclcpp_components_register_nodes(${library_name} "nav2_velocity_smoother::VelocitySmoother")
+
+install(
+  TARGETS ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto 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()