96 lines
1.9 KiB
CMake
Executable File
96 lines
1.9 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.5)
|
|
project(nav2_rrtstar_planner)
|
|
|
|
# Default to C99
|
|
set(CMAKE_C_STANDARD 99)
|
|
|
|
|
|
# Default to C++14
|
|
set(CMAKE_CXX_STANDARD 14)
|
|
|
|
# find dependencies
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(rclcpp_action REQUIRED)
|
|
find_package(rclcpp_lifecycle 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(nav2_core REQUIRED)
|
|
find_package(pluginlib REQUIRED)
|
|
|
|
include_directories(
|
|
include
|
|
)
|
|
|
|
set(library_name ${PROJECT_NAME}_plugin)
|
|
|
|
set(dependencies
|
|
rclcpp
|
|
rclcpp_action
|
|
rclcpp_lifecycle
|
|
std_msgs
|
|
visualization_msgs
|
|
nav2_util
|
|
nav2_msgs
|
|
nav_msgs
|
|
geometry_msgs
|
|
builtin_interfaces
|
|
tf2_ros
|
|
nav2_costmap_2d
|
|
nav2_core
|
|
pluginlib
|
|
)
|
|
|
|
add_library(${library_name} SHARED
|
|
src/rrtstar_planner.cpp
|
|
)
|
|
|
|
ament_target_dependencies(${library_name}
|
|
${dependencies}
|
|
)
|
|
|
|
target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
|
|
|
|
|
|
pluginlib_export_plugin_description_file(nav2_core global_planner_plugin.xml)
|
|
|
|
install(TARGETS ${library_name}
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
|
|
install(DIRECTORY include/
|
|
DESTINATION include/
|
|
)
|
|
|
|
install(FILES global_planner_plugin.xml
|
|
DESTINATION share/${PROJECT_NAME}
|
|
)
|
|
|
|
install(DIRECTORY launch/
|
|
DESTINATION share/${PROJECT_NAME}/launch
|
|
)
|
|
|
|
install(DIRECTORY scripts/
|
|
DESTINATION share/${PROJECT_NAME}/scripts
|
|
)
|
|
|
|
if(BUILD_TESTING)
|
|
find_package(ament_lint_auto REQUIRED)
|
|
ament_lint_auto_find_test_dependencies()
|
|
endif()
|
|
|
|
|
|
ament_export_include_directories(include)
|
|
ament_export_libraries(${library_name})
|
|
ament_export_dependencies(${dependencies})
|
|
ament_package()
|