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 +1,107 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_waypoint_follower)
+
+# Try for OpenCV 4.X, but settle for whatever is installed
+find_package(OpenCV 4 QUIET)
+if(NOT OpenCV_FOUND)
+  find_package(OpenCV REQUIRED)
+endif()
+message(STATUS "Found OpenCV version ${OpenCV_VERSION}")
+
+find_package(image_transport REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(pluginlib REQUIRED)
+
+nav2_package()
+
+include_directories(
+  include
+)
+
+set(executable_name waypoint_follower)
+
+add_executable(${executable_name}
+  src/main.cpp
+)
+
+set(library_name ${executable_name}_core)
+
+add_library(${library_name} SHARED
+  src/waypoint_follower.cpp
+)
+
+set(dependencies
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  rclcpp_components
+  nav_msgs
+  nav2_msgs
+  nav2_util
+  tf2_ros
+  nav2_core
+  pluginlib
+  image_transport
+  cv_bridge
+  OpenCV
+)
+
+ament_target_dependencies(${executable_name}
+  ${dependencies}
+)
+
+target_link_libraries(${executable_name} ${library_name})
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+add_library(wait_at_waypoint SHARED plugins/wait_at_waypoint.cpp)
+ament_target_dependencies(wait_at_waypoint ${dependencies})
+
+add_library(photo_at_waypoint SHARED plugins/photo_at_waypoint.cpp)
+ament_target_dependencies(photo_at_waypoint ${dependencies})
+
+add_library(input_at_waypoint SHARED plugins/input_at_waypoint.cpp)
+ament_target_dependencies(input_at_waypoint ${dependencies})
+
+rclcpp_components_register_nodes(${library_name} "nav2_waypoint_follower::WaypointFollower")
+
+install(TARGETS ${library_name} wait_at_waypoint photo_at_waypoint input_at_waypoint
+  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)
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(wait_at_waypoint photo_at_waypoint input_at_waypoint ${library_name})
+ament_export_dependencies(${dependencies})
+pluginlib_export_plugin_description_file(nav2_waypoint_follower plugins.xml)
+
+ament_package()