X-lanni
121 lines
3.1 KiB
CMake
121 lines
3.1 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_controller)
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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_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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nav2_package()
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include_directories(
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include
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)
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set(executable_name controller_server)
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add_executable(${executable_name}
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src/main.cpp
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)
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set(library_name ${executable_name}_core)
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add_library(${library_name} SHARED
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src/controller_server.cpp
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)
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set(dependencies
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angles
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rclcpp
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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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add_library(simple_progress_checker SHARED plugins/simple_progress_checker.cpp)
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ament_target_dependencies(simple_progress_checker ${dependencies})
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add_library(pose_progress_checker SHARED plugins/pose_progress_checker.cpp)
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target_link_libraries(pose_progress_checker simple_progress_checker)
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ament_target_dependencies(pose_progress_checker ${dependencies})
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add_library(simple_goal_checker SHARED plugins/simple_goal_checker.cpp)
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ament_target_dependencies(simple_goal_checker ${dependencies})
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add_library(stopped_goal_checker SHARED plugins/stopped_goal_checker.cpp)
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target_link_libraries(stopped_goal_checker simple_goal_checker)
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ament_target_dependencies(stopped_goal_checker ${dependencies})
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add_library(position_goal_checker SHARED plugins/position_goal_checker.cpp)
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ament_target_dependencies(position_goal_checker ${dependencies})
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ament_target_dependencies(${library_name}
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${dependencies}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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add_subdirectory(plugins/test)
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endif()
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ament_target_dependencies(${executable_name}
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${dependencies}
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)
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target_link_libraries(${executable_name} ${library_name})
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rclcpp_components_register_nodes(${library_name} "nav2_controller::ControllerServer")
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install(TARGETS simple_progress_checker pose_progress_checker simple_goal_checker stopped_goal_checker position_goal_checker ${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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find_package(ament_cmake_gtest REQUIRED)
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ament_lint_auto_find_test_dependencies()
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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(simple_progress_checker
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pose_progress_checker
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simple_goal_checker
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stopped_goal_checker
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position_goal_checker
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${library_name})
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ament_export_dependencies(${dependencies})
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pluginlib_export_plugin_description_file(nav2_core plugins.xml)
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ament_package()
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