/
CMakeLists.txt
114 lines (92 loc) · 2.43 KB
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(nav2_amcl)
find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(message_filters REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(pluginlib REQUIRED)
nav2_package()
include_directories(
include
)
include(CheckSymbolExists)
check_symbol_exists(drand48 stdlib.h HAVE_DRAND48)
add_subdirectory(src/pf)
add_subdirectory(src/map)
add_subdirectory(src/motion_model)
add_subdirectory(src/sensors)
set(executable_name amcl)
add_executable(${executable_name}
src/main.cpp
)
set(library_name ${executable_name}_core)
add_library(${library_name} SHARED
src/amcl_node.cpp
)
target_include_directories(${library_name} PRIVATE src/include)
if(HAVE_DRAND48)
target_compile_definitions(${library_name} PRIVATE "HAVE_DRAND48")
endif()
set(dependencies
rclcpp
rclcpp_lifecycle
rclcpp_components
message_filters
tf2_geometry_msgs
geometry_msgs
nav_msgs
sensor_msgs
std_srvs
tf2_ros
tf2
nav2_util
nav2_msgs
pluginlib
)
ament_target_dependencies(${executable_name}
${dependencies}
)
target_link_libraries(${executable_name}
${library_name}
)
ament_target_dependencies(${library_name}
${dependencies}
)
target_link_libraries(${library_name}
map_lib pf_lib sensors_lib
)
rclcpp_components_register_nodes(${library_name} "nav2_amcl::AmclNode")
install(TARGETS ${library_name}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(TARGETS ${executable_name}
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/
DESTINATION include/
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_include_directories(include)
ament_export_libraries(${library_name} pf_lib sensors_lib motions_lib map_lib)
ament_export_dependencies(${dependencies})
pluginlib_export_plugin_description_file(nav2_amcl plugins.xml)
ament_package()