forked from ros-navigation/navigation2
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathCMakeLists.txt
129 lines (109 loc) · 3.98 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
cmake_minimum_required(VERSION 3.5)
project(nav2_system_tests)
find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_map_server REQUIRED)
find_package(nav2_behavior_tree REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(gazebo_ros_pkgs REQUIRED)
find_package(nav2_amcl REQUIRED)
find_package(nav2_lifecycle_manager REQUIRED)
find_package(rclpy REQUIRED)
find_package(nav2_navfn_planner REQUIRED)
find_package(nav2_planner REQUIRED)
find_package(navigation2)
find_package(angles REQUIRED)
find_package(behaviortree_cpp_v3 REQUIRED)
nav2_package()
set(dependencies
rclcpp
nav2_util
nav2_map_server
nav2_msgs
nav_msgs
visualization_msgs
nav2_amcl
nav2_lifecycle_manager
nav2_behavior_tree
gazebo_ros_pkgs
geometry_msgs
std_msgs
tf2_geometry_msgs
rclpy
nav2_planner
nav2_navfn_planner
angles
behaviortree_cpp_v3
)
set(local_controller_plugin_lib local_controller)
add_library(${local_controller_plugin_lib} SHARED src/error_codes/controller/controller_error_plugins.cpp)
ament_target_dependencies(${local_controller_plugin_lib} ${dependencies})
target_compile_definitions(${local_controller_plugin_lib} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(nav2_core src/error_codes/controller_plugins.xml)
install(TARGETS ${local_controller_plugin_lib}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(FILES src/error_codes/controller_plugins.xml
DESTINATION share/${PROJECT_NAME}
)
set(global_planner_plugin_lib global_planner)
add_library(${global_planner_plugin_lib} SHARED src/error_codes/planner/planner_error_plugin.cpp)
ament_target_dependencies(${global_planner_plugin_lib} ${dependencies})
target_compile_definitions(${global_planner_plugin_lib} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(nav2_core src/error_codes/planner_plugins.xml)
install(TARGETS ${global_planner_plugin_lib}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(FILES src/error_codes/planner_plugins.xml
DESTINATION share/${PROJECT_NAME}
)
set(smoother_plugin_lib smoother)
add_library(${smoother_plugin_lib} SHARED src/error_codes/smoother/smoother_error_plugin.cpp)
ament_target_dependencies(${smoother_plugin_lib} ${dependencies})
target_compile_definitions(${smoother_plugin_lib} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(nav2_core src/error_codes/smoother_plugins.xml)
install(TARGETS ${smoother_plugin_lib}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(FILES src/error_codes/smoother_plugins.xml
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED)
add_subdirectory(src/behavior_tree)
add_subdirectory(src/planning)
add_subdirectory(src/localization)
add_subdirectory(src/system)
add_subdirectory(src/system_failure)
add_subdirectory(src/updown)
add_subdirectory(src/waypoint_follower)
add_subdirectory(src/behaviors/spin)
add_subdirectory(src/behaviors/wait)
add_subdirectory(src/behaviors/backup)
add_subdirectory(src/behaviors/drive_on_heading)
add_subdirectory(src/behaviors/assisted_teleop)
add_subdirectory(src/costmap_filters)
add_subdirectory(src/error_codes)
install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
endif()
ament_export_libraries(${local_controller_plugin_lib})
ament_export_libraries(${global_planner_plugin_lib})
ament_export_libraries(${smoother_plugin_lib})
ament_package()