Created path segmenter controller

toid_spinner_controller/CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_spinner_controller)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(library_name toid_spinner_controller)
+
+
+set(PACKAGE_DEPS
+  rclcpp
+  geometry_msgs
+  nav2_costmap_2d
+  pluginlib
+  nav_msgs
+  nav2_util
+  nav2_core
+  tf2
+  tf2_ros
+  angles
+  nav2_controller
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+add_library(${library_name} SHARED
+        src/toid_spinner_controller.cpp
+        src/path_handler.cpp)
+
+target_include_directories(${library_name}
+  PRIVATE
+  include
+)
+
+ament_target_dependencies(${library_name}
+  ${PACKAGE_DEPS}
+)
+
+install(TARGETS ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${PACKAGE_DEPS})
+
+pluginlib_export_plugin_description_file(nav2_core toid_spinner_controller.xml)
+
+ament_package()