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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.12.2)
project(blue_nav2)
if (NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif ()
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif ()
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
ament_auto_add_library(pure_pursuit_controller_3d SHARED src/pure_pursuit_controller_3d.cpp)
ament_target_dependencies(pure_pursuit_controller_3d )
target_include_directories(pure_pursuit_controller_3d PRIVATE include)
target_compile_definitions(pure_pursuit_controller_3d PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(nav2_core pure_pursuit_controller_3d_plugin.xml)
ament_auto_add_library(straight_line_planner_3d SHARED src/straight_line_planner_3d.cpp)
target_include_directories(straight_line_planner_3d PRIVATE include)
target_compile_definitions(straight_line_planner_3d PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(nav2_core straight_line_planner_3d_plugin.xml)
ament_auto_add_library(goal_checker_3d SHARED src/goal_checker_3d.cpp)
target_include_directories(goal_checker_3d PRIVATE include)
target_compile_definitions(goal_checker_3d PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(nav2_core goal_checker_3d_plugin.xml)
ament_auto_add_library(progress_checker_3d SHARED src/progress_checker_3d.cpp)
ament_target_dependencies(progress_checker_3d )
target_include_directories(progress_checker_3d PRIVATE include)
target_compile_definitions(progress_checker_3d PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(nav2_core progress_checker_3d_plugin.xml)
# Load & run linters listed in package.xml
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif ()
install(
FILES
pure_pursuit_controller_3d_plugin.xml
straight_line_planner_3d_plugin.xml
goal_checker_3d_plugin.xml
progress_checker_3d_plugin.xml
DESTINATION share/${PROJECT_NAME}
)
ament_auto_package()