X-lanni
96 lines
1.9 KiB
CMake
96 lines
1.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_lifecycle_manager)
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find_package(ament_cmake REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(lifecycle_msgs REQUIRED)
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find_package(nav2_common 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(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(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(bondcpp REQUIRED)
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find_package(diagnostic_updater 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 ${PROJECT_NAME}_core)
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add_library(${library_name} SHARED
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src/lifecycle_manager.cpp
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src/lifecycle_manager_client.cpp
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)
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set(dependencies
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geometry_msgs
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lifecycle_msgs
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nav2_msgs
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nav2_util
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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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std_srvs
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tf2_geometry_msgs
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bondcpp
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diagnostic_updater
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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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add_executable(lifecycle_manager
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src/main.cpp
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)
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target_link_libraries(lifecycle_manager
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${library_name}
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)
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ament_target_dependencies(lifecycle_manager
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${dependencies}
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)
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rclcpp_components_register_nodes(${library_name} "nav2_lifecycle_manager::LifecycleManager")
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install(TARGETS
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${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
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lifecycle_manager
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY include/ DESTINATION include/)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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find_package(ament_cmake_pytest REQUIRED)
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add_subdirectory(test)
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endif()
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ament_export_include_directories(include)
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ament_export_libraries(${library_name})
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ament_export_dependencies(${dependencies})
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ament_package()
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