X-lanni
115 lines
2.4 KiB
CMake
115 lines
2.4 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_amcl)
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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_lifecycle REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(message_filters REQUIRED)
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find_package(tf2_geometry_msgs 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(sensor_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2 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(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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include(CheckSymbolExists)
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check_symbol_exists(drand48 stdlib.h HAVE_DRAND48)
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add_subdirectory(src/pf)
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add_subdirectory(src/map)
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add_subdirectory(src/motion_model)
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add_subdirectory(src/sensors)
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set(executable_name amcl)
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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/amcl_node.cpp
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)
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target_include_directories(${library_name} PRIVATE src/include)
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if(HAVE_DRAND48)
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target_compile_definitions(${library_name} PRIVATE "HAVE_DRAND48")
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endif()
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set(dependencies
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rclcpp
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rclcpp_lifecycle
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rclcpp_components
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message_filters
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tf2_geometry_msgs
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geometry_msgs
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nav_msgs
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sensor_msgs
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std_srvs
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tf2_ros
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tf2
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nav2_util
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nav2_msgs
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pluginlib
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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(${executable_name}
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${library_name}
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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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target_link_libraries(${library_name}
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map_lib pf_lib sensors_lib
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)
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rclcpp_components_register_nodes(${library_name} "nav2_amcl::AmclNode")
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install(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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# the following line skips the linter which checks for copyrights
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_export_include_directories(include)
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ament_export_libraries(${library_name} pf_lib sensors_lib motions_lib map_lib)
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ament_export_dependencies(${dependencies})
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pluginlib_export_plugin_description_file(nav2_amcl plugins.xml)
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ament_package()
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