X-lanni
108 lines
2.6 KiB
CMake
108 lines
2.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_waypoint_follower)
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# Try for OpenCV 4.X, but settle for whatever is installed
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find_package(OpenCV 4 QUIET)
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if(NOT OpenCV_FOUND)
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find_package(OpenCV REQUIRED)
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endif()
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message(STATUS "Found OpenCV version ${OpenCV_VERSION}")
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find_package(image_transport REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(nav2_common REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(nav2_util REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(nav2_core REQUIRED)
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find_package(pluginlib REQUIRED)
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nav2_package()
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include_directories(
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include
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)
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set(executable_name waypoint_follower)
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add_executable(${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/waypoint_follower.cpp
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)
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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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nav_msgs
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nav2_msgs
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nav2_util
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tf2_ros
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nav2_core
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pluginlib
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image_transport
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cv_bridge
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OpenCV
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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} ${library_name})
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ament_target_dependencies(${library_name}
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${dependencies}
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)
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add_library(wait_at_waypoint SHARED plugins/wait_at_waypoint.cpp)
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ament_target_dependencies(wait_at_waypoint ${dependencies})
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add_library(photo_at_waypoint SHARED plugins/photo_at_waypoint.cpp)
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ament_target_dependencies(photo_at_waypoint ${dependencies})
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add_library(input_at_waypoint SHARED plugins/input_at_waypoint.cpp)
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ament_target_dependencies(input_at_waypoint ${dependencies})
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rclcpp_components_register_nodes(${library_name} "nav2_waypoint_follower::WaypointFollower")
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install(TARGETS ${library_name} wait_at_waypoint photo_at_waypoint input_at_waypoint
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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(wait_at_waypoint photo_at_waypoint input_at_waypoint ${library_name})
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ament_export_dependencies(${dependencies})
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pluginlib_export_plugin_description_file(nav2_waypoint_follower plugins.xml)
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ament_package()
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