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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(bt_nav2_ergocub)
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(behaviortree_cpp_v3 REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_srvs REQUIRED)
find_package(nav2_common 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(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)
find_package(nav2_core REQUIRED)
find_package(YARP COMPONENTS os REQUIRED)
set(DEPENDENCIES
behaviortree_cpp_v3
rclcpp
std_srvs
rclcpp_action
rclcpp_lifecycle
geometry_msgs
sensor_msgs
nav2_msgs
nav_msgs
behaviortree_cpp_v3
tf2
tf2_ros
tf2_geometry_msgs
std_msgs
nav2_util
)
include_directories(include)
set(LIBRARY_NAME ${PROJECT_NAME}_core)
add_library(${LIBRARY_NAME} SHARED
src/decorator_on_bool.cpp
)
ament_target_dependencies(${LIBRARY_NAME} ${DEPENDENCIES})
target_compile_definitions(${LIBRARY_NAME} PRIVATE BT_PLUGIN_EXPORT)
add_library(is_goal_reached SHARED src/is_goal_reached.cpp)
list(APPEND plugin_libs is_goal_reached)
ament_target_dependencies(is_goal_reached ${DEPENDENCIES} YARP)
target_compile_definitions(is_goal_reached PRIVATE BT_PLUGIN_EXPORT)
add_library(is_path_valid SHARED src/is_path_valid.cpp)
list(APPEND plugin_libs is_path_valid)
ament_target_dependencies(is_path_valid ${DEPENDENCIES})
target_compile_definitions(is_path_valid PRIVATE BT_PLUGIN_EXPORT)
install(TARGETS
${LIBRARY_NAME}
is_goal_reached
is_path_valid
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/ DESTINATION include/)
install(DIRECTORY bt_descriptions/ DESTINATION share/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_include_directories(include)
ament_export_libraries(${LIBRARY_NAME})
ament_export_dependencies(${DEPENDENCIES})
ament_package()