X-lanni
120 lines
2.6 KiB
CMake
120 lines
2.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_smoother)
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find_package(ament_cmake REQUIRED)
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find_package(nav2_core REQUIRED)
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find_package(nav2_common REQUIRED)
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find_package(angles REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(nav2_util REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(nav_2d_utils REQUIRED)
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find_package(nav_2d_msgs REQUIRED)
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find_package(pluginlib REQUIRED)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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nav2_package()
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include_directories(
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include
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)
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set(executable_name smoother_server)
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set(library_name ${executable_name}_core)
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set(dependencies
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angles
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rclcpp
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rclcpp_components
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rclcpp_action
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rclcpp_components
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std_msgs
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nav2_msgs
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nav_2d_utils
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nav_2d_msgs
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nav2_util
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nav2_core
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pluginlib
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)
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# Main library
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add_library(${library_name} SHARED
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src/nav2_smoother.cpp
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)
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ament_target_dependencies(${library_name}
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${dependencies}
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)
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# Main executable
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add_executable(${executable_name}
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src/main.cpp
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)
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ament_target_dependencies(${executable_name}
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${dependencies}
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)
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target_link_libraries(${executable_name} ${library_name})
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# Simple Smoother plugin
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add_library(simple_smoother SHARED
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src/simple_smoother.cpp
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)
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ament_target_dependencies(simple_smoother
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${dependencies}
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)
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# Savitzky Golay Smoother plugin
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add_library(savitzky_golay_smoother SHARED
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src/savitzky_golay_smoother.cpp
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)
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ament_target_dependencies(savitzky_golay_smoother
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${dependencies}
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)
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pluginlib_export_plugin_description_file(nav2_core plugins.xml)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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endif()
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rclcpp_components_register_nodes(${library_name} "nav2_smoother::SmootherServer")
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install(
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TARGETS ${library_name} simple_smoother savitzky_golay_smoother
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(TARGETS ${executable_name}
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY include/
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DESTINATION include/
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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add_subdirectory(test)
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endif()
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ament_export_include_directories(include)
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ament_export_libraries(${library_name} simple_smoother savitzky_golay_smoother)
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ament_export_dependencies(${dependencies})
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ament_package()
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