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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(husky_gps_navigation)
# 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(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav2_waypoint_follower REQUIRED)
find_package(nav2_lifecycle_manager REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(robot_localization REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(yaml-cpp REQUIRED )
find_package(geographic_msgs REQUIRED)
include_directories(
include
${YAML_CPP_INCLUDE_DIR})
set(dependencies
rclcpp
rclcpp_action
rclcpp_lifecycle
nav2_util
nav2_lifecycle_manager
nav_msgs
nav2_msgs
nav2_core
nav2_waypoint_follower
tf2_ros
tf2_geometry_msgs
robot_localization
geographic_msgs
)
# NAV2 wp client
set(nav2_wp_cl nav2_wp_follower_client)
add_executable(${nav2_wp_cl} src/${nav2_wp_cl}.cpp)
ament_target_dependencies(${nav2_wp_cl} ${dependencies})
# Gps collector
set(gps_wp_coll gps_waypoint_collector)
add_executable(${gps_wp_coll} src/${gps_wp_coll}.cpp)
ament_target_dependencies(${gps_wp_coll} ${dependencies})
target_link_libraries(${gps_wp_coll} ${YAML_CPP_LIBRARIES})
install(
TARGETS ${gps_wp_coll}
${nav2_wp_cl}
RUNTIME DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY include/
DESTINATION include/)
install(
DIRECTORY launch params
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_package()