63 lines
1.4 KiB
CMake
63 lines
1.4 KiB
CMake
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cmake_minimum_required(VERSION 3.5)
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project(nav2_gradient_costmap_plugin)
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set(lib_name ${PROJECT_NAME}_core)
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# === Environment ===
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# === Dependencies ===
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(nav2_costmap_2d REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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add_executable(talker src/publisher_function.cpp)
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ament_target_dependencies(talker rclcpp geometry_msgs)
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set(dep_pkgs
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rclcpp
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nav2_costmap_2d
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pluginlib)
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# === Build ===
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add_library(${lib_name} SHARED
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src/gradient_layer.cpp)
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include_directories(include)
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# === Installation ===
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install(TARGETS ${lib_name}
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DESTINATION lib)
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install(TARGETS
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talker
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DESTINATION lib/${PROJECT_NAME})
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# === Ament work ===
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# pluginlib_export_plugin_description_file() installs gradient_layer.xml
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# file into "share" directory and sets ament indexes for it.
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# This allows the plugin to be discovered as a plugin of required type.
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pluginlib_export_plugin_description_file(nav2_costmap_2d gradient_layer.xml)
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ament_target_dependencies(${lib_name} ${dep_pkgs})
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ament_package()
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