Added RivalLayer and finished GameElementLayer

toid_costmaps/CMakeLists.txt

@@ -9,9 +9,9 @@ set(library_name toid_costmaps)
 
 set(
   PACKAGE_DEPS
-
   rclcpp
-  angles
+  ament_index_cpp
+  Boost
   geometry_msgs
   pluginlib
   nav_msgs
@@ -28,6 +28,7 @@ set(
 set(
   SOURCES
   src/game_elements_layer.cpp
+  src/rival_layer.cpp
 )
 
 find_package(ament_cmake REQUIRED)
@@ -35,8 +36,16 @@ foreach(PACKAGE ${PACKAGE_DEPS})
   find_package(${PACKAGE} REQUIRED)
 endforeach()
 
+find_package(Boost REQUIRED COMPONENTS json)
+
+
 add_library(${library_name} SHARED ${SOURCES})
 
+target_link_libraries(
+  ${library_name}
+  Boost::json
+)
+
 target_include_directories(
   ${library_name} 
   PRIVATE 
@@ -60,6 +69,11 @@ install(
   DESTINATION include/
 )
 
+install(
+  DIRECTORY elements
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 ament_export_include_directories(include)
 ament_export_libraries(${library_name})
 ament_export_dependencies(${PACKAGE_DEPS})