-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
120 lines (102 loc) · 3.54 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
cmake_minimum_required(VERSION 3.5)
project(stella_nav2_plugins)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(stella_interfaces REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(behaviortree_cpp_v3 REQUIRED)
set(dependencies
rclcpp
rclcpp_action
rclcpp_lifecycle
builtin_interfaces
geometry_msgs
sensor_msgs
nav_msgs
std_msgs
std_srvs
stella_interfaces
nav2_common
nav2_core
nav2_msgs
nav2_util
tf2_ros
tf2_geometry_msgs
behaviortree_cpp_v3
)
include_directories(
include
)
add_library(stella_nav2_tail_path_action_bt_node SHARED plugins/action/tail_path_action.cpp)
ament_target_dependencies(stella_nav2_tail_path_action_bt_node ${dependencies})
target_compile_definitions(stella_nav2_tail_path_action_bt_node PRIVATE BT_PLUGIN_EXPORT)
add_library(stella_nav2_publish_string_action_bt_node SHARED plugins/action/publish_string_action.cpp)
ament_target_dependencies(stella_nav2_publish_string_action_bt_node ${dependencies})
target_compile_definitions(stella_nav2_publish_string_action_bt_node PRIVATE BT_PLUGIN_EXPORT)
add_library(stella_nav2_publish_path_action_bt_node SHARED plugins/action/publish_path_action.cpp)
ament_target_dependencies(stella_nav2_publish_path_action_bt_node ${dependencies})
target_compile_definitions(stella_nav2_publish_path_action_bt_node PRIVATE BT_PLUGIN_EXPORT)
add_library(stella_nav2_add_two_float_action_bt_node SHARED plugins/action/add_two_float_action.cpp)
ament_target_dependencies(stella_nav2_add_two_float_action_bt_node ${dependencies})
target_compile_definitions(stella_nav2_add_two_float_action_bt_node PRIVATE BT_PLUGIN_EXPORT)
add_library(stella_nav2_time_based_retry_bt_node SHARED plugins/decorator/time_based_retry.cpp)
ament_target_dependencies(stella_nav2_time_based_retry_bt_node ${dependencies})
target_compile_definitions(stella_nav2_time_based_retry_bt_node PRIVATE BT_PLUGIN_EXPORT)
add_library(stella_wait_for_button_behavior SHARED
plugins/wait_for_button.cpp
)
ament_target_dependencies(stella_wait_for_button_behavior
${dependencies}
)
add_library(stella_goal_checker SHARED
plugins/goal_checker.cpp
)
ament_target_dependencies(stella_goal_checker
${dependencies}
)
pluginlib_export_plugin_description_file(nav2_core plugins.xml)
install(DIRECTORY include/
DESTINATION include/
)
install(TARGETS
stella_nav2_tail_path_action_bt_node
stella_nav2_publish_string_action_bt_node
stella_nav2_publish_path_action_bt_node
stella_nav2_add_two_float_action_bt_node
stella_nav2_time_based_retry_bt_node
stella_wait_for_button_behavior
stella_goal_checker
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(FILES plugins.xml
DESTINATION share/${PROJECT_NAME}
)
ament_export_include_directories(
include
)
ament_export_libraries(
stella_nav2_tail_path_action_bt_node
stella_nav2_publish_string_action_bt_node
stella_nav2_publish_path_action_bt_node
stella_nav2_add_two_float_action_bt_node
stella_nav2_time_based_retry_bt_node
stella_wait_for_button_behavior
stella_goal_checker
)
ament_export_dependencies(${dependencies})
ament_package()