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