X-lanni
94 lines
1.9 KiB
CMake
94 lines
1.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
|
|
project(nav2_planner)
|
|
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(nav2_common REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(rclcpp_action REQUIRED)
|
|
find_package(rclcpp_lifecycle REQUIRED)
|
|
find_package(rclcpp_components REQUIRED)
|
|
find_package(std_msgs REQUIRED)
|
|
find_package(visualization_msgs REQUIRED)
|
|
find_package(nav2_util REQUIRED)
|
|
find_package(nav2_msgs REQUIRED)
|
|
find_package(nav_msgs REQUIRED)
|
|
find_package(geometry_msgs REQUIRED)
|
|
find_package(builtin_interfaces REQUIRED)
|
|
find_package(tf2_ros REQUIRED)
|
|
find_package(nav2_costmap_2d REQUIRED)
|
|
find_package(pluginlib REQUIRED)
|
|
find_package(nav2_core REQUIRED)
|
|
|
|
nav2_package()
|
|
|
|
include_directories(
|
|
include
|
|
)
|
|
|
|
set(executable_name planner_server)
|
|
set(library_name ${executable_name}_core)
|
|
|
|
set(dependencies
|
|
rclcpp
|
|
rclcpp_action
|
|
rclcpp_lifecycle
|
|
rclcpp_components
|
|
std_msgs
|
|
visualization_msgs
|
|
nav2_util
|
|
nav2_msgs
|
|
nav_msgs
|
|
geometry_msgs
|
|
builtin_interfaces
|
|
tf2_ros
|
|
nav2_costmap_2d
|
|
pluginlib
|
|
nav2_core
|
|
)
|
|
|
|
add_library(${library_name} SHARED
|
|
src/planner_server.cpp
|
|
)
|
|
|
|
ament_target_dependencies(${library_name}
|
|
${dependencies}
|
|
)
|
|
|
|
add_executable(${executable_name}
|
|
src/main.cpp
|
|
)
|
|
|
|
target_link_libraries(${executable_name} ${library_name})
|
|
|
|
ament_target_dependencies(${executable_name}
|
|
${dependencies}
|
|
)
|
|
|
|
rclcpp_components_register_nodes(${library_name} "nav2_planner::PlannerServer")
|
|
|
|
install(TARGETS ${library_name}
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION bin
|
|
)
|
|
|
|
install(TARGETS ${executable_name}
|
|
RUNTIME DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
|
|
install(DIRECTORY include/
|
|
DESTINATION include/
|
|
)
|
|
|
|
if(BUILD_TESTING)
|
|
find_package(ament_lint_auto REQUIRED)
|
|
find_package(ament_cmake_gtest REQUIRED)
|
|
ament_lint_auto_find_test_dependencies()
|
|
add_subdirectory(test)
|
|
endif()
|
|
|
|
ament_export_include_directories(include)
|
|
ament_export_libraries(${library_name})
|
|
ament_export_dependencies(${dependencies})
|
|
ament_package()
|