CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(homing_local_planner)

 
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake_auto REQUIRED)

find_package(nav2_common REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(nav2_util REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(tf2 REQUIRED)
find_package(visualization_msgs REQUIRED)

find_package(Eigen3 REQUIRED)
 

nav2_package()

set(dependencies
  rclcpp
  geometry_msgs
  nav2_costmap_2d
  pluginlib
  nav_msgs
  nav2_util
  nav2_core
  tf2
  visualization_msgs
)


set(library_name homing_local_planner)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()


include_directories(
  include
  ${EIGEN3_INCLUDE_DIRS}
)

add_library(${library_name} SHARED
        src/homing_local_planner.cpp
        src/visualization.cpp)

# prevent pluginlib from using boost
target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

ament_target_dependencies(${library_name}
        ${dependencies}
      )

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(${library_name})
ament_export_dependencies(${dependencies})
ament_export_definitions("PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
      
pluginlib_export_plugin_description_file(nav2_core homing_local_planner.xml)
      

ament_auto_package(INSTALL_TO_SHARE test)