First flake environment

mg_navigation/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.24)
 project(mg_navigation)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

mg_navigation/package.nix

@@ -0,0 +1,18 @@
+# Automatically generated by: ros2nix --distro jazzy
+{ lib, buildRosPackage, ament-cmake, geometry-msgs, glm, mg-msgs, mg-obstacles, rclcpp, rclcpp-action, rclcpp-components, tf2, tf2-geometry-msgs, tf2-ros }:
+buildRosPackage rec {
+  pname = "ros-jazzy-mg-navigation";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake glm ];
+  propagatedBuildInputs = [ geometry-msgs mg-msgs mg-obstacles rclcpp rclcpp-action rclcpp-components tf2 tf2-geometry-msgs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

mg_navigation/src/mg_navigation.cpp

@@ -2,6 +2,7 @@
 #include <functional>
 #include <thread>
 
+#define GLM_ENABLE_EXPERIMENTAL
 #include "rclcpp/rclcpp.hpp"
 #include "mg_navigation.hpp"
 #include "handlers/dwa.hpp"

mg_navigation/src/path_buffer.cpp

@@ -1,5 +1,6 @@
 #include "path_buffer.hpp"
 
+#define GLM_ENABLE_EXPERIMENTAL
 #include <glm/gtx/norm.hpp>
 
 #include <chrono>