X-lanni
85 lines
1.8 KiB
CMake
85 lines
1.8 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_velocity_smoother)
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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_components REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(nav2_util 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 velocity_smoother)
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set(library_name ${executable_name}_core)
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set(dependencies
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rclcpp
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rclcpp_components
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geometry_msgs
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nav2_util
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)
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# Main library
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add_library(${library_name} SHARED
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src/velocity_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} ${library_name})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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endif()
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rclcpp_components_register_nodes(${library_name} "nav2_velocity_smoother::VelocitySmoother")
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install(
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TARGETS ${library_name}
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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(${library_name})
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ament_export_dependencies(${dependencies})
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ament_package()
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