GameElementLayer prototype

toid_costmaps/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_costmaps)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(library_name toid_costmaps)
+
+set(
+  PACKAGE_DEPS
+
+  rclcpp
+  angles
+  geometry_msgs
+  pluginlib
+  nav_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav2_util
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
+  Eigen3
+  toid_msgs
+)
+
+set(
+  SOURCES
+  src/game_elements_layer.cpp
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+add_library(${library_name} SHARED ${SOURCES})
+
+target_include_directories(
+  ${library_name} 
+  PRIVATE 
+
+  include
+)
+
+ament_target_dependencies(
+  ${library_name}
+  ${PACKAGE_DEPS}
+)
+
+install(TARGETS ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin 
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${PACKAGE_DEPS})
+
+pluginlib_export_plugin_description_file(nav2_costmap_2d toid_costmaps.xml)
+
+ament_package()