X-lanni
81 lines
1.8 KiB
CMake
81 lines
1.8 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_graceful_controller)
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find_package(ament_cmake REQUIRED)
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find_package(nav2_common REQUIRED)
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find_package(nav2_core REQUIRED)
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find_package(nav2_costmap_2d REQUIRED)
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find_package(nav2_util REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(pluginlib 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(nav_2d_utils REQUIRED)
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find_package(angles 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(dependencies
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rclcpp
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geometry_msgs
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nav2_costmap_2d
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pluginlib
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nav_msgs
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nav2_util
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nav2_core
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tf2
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tf2_geometry_msgs
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nav_2d_utils
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angles
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)
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# Add Smooth Control Law as library
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add_library(smooth_control_law SHARED src/smooth_control_law.cpp)
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ament_target_dependencies(smooth_control_law ${dependencies})
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# Add Graceful Controller
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set(library_name nav2_graceful_controller)
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add_library(${library_name} SHARED
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src/graceful_controller.cpp
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src/parameter_handler.cpp
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src/path_handler.cpp
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src/utils.cpp
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)
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target_link_libraries(${library_name} smooth_control_law)
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ament_target_dependencies(${library_name} ${dependencies})
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install(TARGETS smooth_control_law ${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(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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# 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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add_subdirectory(test)
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endif()
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ament_export_include_directories(include)
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ament_export_libraries(smooth_control_law ${library_name})
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ament_export_dependencies(${dependencies})
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pluginlib_export_plugin_description_file(nav2_core graceful_controller_plugin.xml)
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ament_package()
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