-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathCMakeLists.txt
133 lines (107 loc) · 2.92 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
130
131
132
133
cmake_minimum_required(VERSION 3.5)
project(nav_novamob)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(nav2_common REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(behaviortree_cpp_v3 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(nav2_util REQUIRED)
include_directories(
include
)
set(library_name ${PROJECT_NAME})
set(dependencies
rclcpp
rclcpp_action
rclcpp_lifecycle
geometry_msgs
sensor_msgs
nav2_msgs
nav_msgs
behaviortree_cpp_v3
tf2
tf2_ros
tf2_geometry_msgs
std_msgs
std_srvs
nav2_util
)
add_library(nav2_open_gesture_detected_bt_node SHARED
src/open_hand_condition.cpp
)
add_library(nav2_closed_gesture_detected_bt_node SHARED
src/closed_hand_condition.cpp
)
add_library(nav2_alwaystrue_bt_node SHARED
src/always_true_condition.cpp
)
add_library(nav2_stop_robot_bt_node SHARED
src/stop_robot_action.cpp
)
add_library(nav2_resume_nav_bt_node SHARED
src/resume_nav_node.cpp
)
add_executable(closed_hand_node src/ClosedHandNode.cpp)
ament_target_dependencies(closed_hand_node ${dependencies})
list(APPEND plugin_libs nav2_open_gesture_detected_bt_node)
list(APPEND plugin_libs nav2_closed_gesture_detected_bt_node)
list(APPEND plugin_libs nav2_alwaystrue_bt_node)
list(APPEND plugin_libs nav2_stop_robot_bt_node)
list(APPEND plugin_libs nav2_resume_nav_bt_node)
foreach(bt_plugin ${plugin_libs})
ament_target_dependencies(${bt_plugin} ${dependencies})
target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
endforeach()
# ament_target_dependencies(nav2_open_gesture_detected_bt_node
# ${dependencies}
# )
install(TARGETS ${plugin_libs} # nav2_open_gesture_detected_bt_node
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(TARGETS closed_hand_node
DESTINATION lib/${PROJECT_NAME})
include_directories(include)
install(
DIRECTORY behavior_trees config src utils
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_include_directories(
include
)
ament_export_libraries(
# nav2_open_gesture_detected_bt_node
${library_name}
${plugin_libs}
)
ament_export_dependencies(${dependencies})
ament_package()