First flake environment

mg_planner/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.24)
 project(mg_planner)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -35,6 +35,7 @@ add_executable(mg_planner
   src/a_star.cpp
 )
 
+
 ament_target_dependencies(mg_planner ${PACKAGE_DEPS})
 
 target_include_directories(
@@ -49,6 +50,8 @@ target_link_libraries(
   ${LIBGLM_LIBRARIES}
 )
 
+target_compile_definitions(mg_planner PRIVATE GLM_ENABLE_EXPERIMENTAL)
+
 install( TARGETS
   mg_planner
   DESTINATION lib/${PROJECT_NAME}

mg_planner/include/mg_planner/a_star/a_star.hpp

@@ -3,6 +3,7 @@
 #include "mg_planner/config.hpp"
 #include "rclcpp/node.hpp"
 
+#define GLM_ENABLE_EXPERIMENTAL 
 #include <glm/fwd.hpp>
 #include <glm/glm.hpp>
 #include <glm/gtx/fast_square_root.hpp>

mg_planner/package.nix

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