Implented point to point DWM action server

mg_navigation/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.8)
+project(mg_navigation)
+
+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(mg_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+
+include(FindPkgConfig)
+pkg_search_module(LIBGLM REQUIRED glm)
+
+
+
+set(PACKAGE_DEPS
+  rclcpp
+  mg_msgs
+  geometry_msgs
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+)
+
+add_executable(mg_nav_server 
+  src/mg_navigation.cpp
+)
+ament_target_dependencies(mg_nav_server ${PACKAGE_DEPS})
+
+target_include_directories(
+  mg_nav_server
+  PRIVATE
+  ${LIBGLM_INCLUDE_DIRS}
+  include
+)
+
+target_link_libraries(
+  mg_nav_server
+  ${LIBGLM_LIBRARIES}
+)
+
+install( TARGETS
+  mg_nav_server
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()