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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(nav2_controller)
find_package(ament_cmake REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_common REQUIRED)
find_package(angles REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_2d_utils REQUIRED)
find_package(nav_2d_msgs REQUIRED)
find_package(pluginlib REQUIRED)
nav2_package()
include_directories(
include
)
set(executable_name controller_server)
add_executable(${executable_name}
src/main.cpp
)
set(library_name ${executable_name}_core)
add_library(${library_name} SHARED
src/controller_server.cpp
)
set(dependencies
angles
rclcpp
rclcpp_action
rclcpp_components
std_msgs
nav2_msgs
nav_2d_utils
nav_2d_msgs
nav2_util
nav2_core
pluginlib
)
add_library(simple_progress_checker SHARED plugins/simple_progress_checker.cpp)
ament_target_dependencies(simple_progress_checker ${dependencies})
add_library(pose_progress_checker SHARED plugins/pose_progress_checker.cpp)
target_link_libraries(pose_progress_checker simple_progress_checker)
ament_target_dependencies(pose_progress_checker ${dependencies})
add_library(simple_goal_checker SHARED plugins/simple_goal_checker.cpp)
ament_target_dependencies(simple_goal_checker ${dependencies})
add_library(stopped_goal_checker SHARED plugins/stopped_goal_checker.cpp)
target_link_libraries(stopped_goal_checker simple_goal_checker)
ament_target_dependencies(stopped_goal_checker ${dependencies})
ament_target_dependencies(${library_name}
${dependencies}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
set(ament_cmake_copyright_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
add_subdirectory(plugins/test)
endif()
ament_target_dependencies(${executable_name}
${dependencies}
)
target_link_libraries(${executable_name} ${library_name})
rclcpp_components_register_nodes(${library_name} "nav2_controller::ControllerServer")
install(TARGETS simple_progress_checker pose_progress_checker simple_goal_checker stopped_goal_checker ${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(simple_progress_checker
pose_progress_checker
simple_goal_checker
stopped_goal_checker
${library_name})
ament_export_dependencies(${dependencies})
pluginlib_export_plugin_description_file(nav2_core plugins.xml)
ament_package()