X-lanni
158 lines
3.2 KiB
CMake
158 lines
3.2 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_behaviors)
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find_package(ament_cmake REQUIRED)
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find_package(nav2_common REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_lifecycle 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_behavior_tree 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_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(nav2_costmap_2d REQUIRED)
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find_package(nav2_core REQUIRED)
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find_package(pluginlib REQUIRED)
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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(library_name behavior_server_core)
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set(executable_name behavior_server)
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set(dependencies
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rclcpp
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rclcpp_action
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rclcpp_lifecycle
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rclcpp_components
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std_msgs
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nav2_util
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nav2_behavior_tree
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nav2_msgs
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nav_msgs
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tf2
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tf2_geometry_msgs
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geometry_msgs
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nav2_costmap_2d
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nav2_core
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pluginlib
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)
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# plugins
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add_library(nav2_spin_behavior SHARED
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plugins/spin.cpp
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)
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ament_target_dependencies(nav2_spin_behavior
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${dependencies}
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)
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add_library(nav2_wait_behavior SHARED
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plugins/wait.cpp
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)
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ament_target_dependencies(nav2_wait_behavior
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${dependencies}
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)
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add_library(nav2_drive_on_heading_behavior SHARED
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plugins/drive_on_heading.cpp
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)
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ament_target_dependencies(nav2_drive_on_heading_behavior
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${dependencies}
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)
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add_library(nav2_back_up_behavior SHARED
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plugins/back_up.cpp
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)
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ament_target_dependencies(nav2_back_up_behavior
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${dependencies}
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)
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add_library(nav2_assisted_teleop_behavior SHARED
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plugins/assisted_teleop.cpp
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)
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ament_target_dependencies(nav2_assisted_teleop_behavior
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${dependencies}
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)
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pluginlib_export_plugin_description_file(nav2_core behavior_plugin.xml)
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# Library
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add_library(${library_name} SHARED
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src/behavior_server.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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# Executable
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add_executable(${executable_name}
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src/main.cpp
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)
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target_link_libraries(${executable_name} ${library_name})
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ament_target_dependencies(${executable_name}
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${dependencies}
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)
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rclcpp_components_register_nodes(${library_name} "behavior_server::BehaviorServer")
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install(TARGETS ${library_name}
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nav2_spin_behavior
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nav2_wait_behavior
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nav2_assisted_teleop_behavior
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nav2_drive_on_heading_behavior
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nav2_back_up_behavior
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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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install(FILES behavior_plugin.xml
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DESTINATION share/${PROJECT_NAME}
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)
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install(DIRECTORY plugins/
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DESTINATION share/${PROJECT_NAME}/plugins/
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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(${library_name}
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nav2_spin_behavior
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nav2_wait_behavior
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nav2_assisted_teleop_behavior
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nav2_drive_on_heading_behavior
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nav2_back_up_behavior
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)
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ament_export_dependencies(${dependencies})
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ament_package()
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