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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(nonpersistent_voxel_layer)
if(NOT WIN32)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(laser_geometry REQUIRED)
find_package(map_msgs REQUIRED)
find_package(message_filters REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav2_voxel_grid REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(Eigen3 REQUIRED)
set(dependencies
geometry_msgs
laser_geometry
map_msgs
message_filters
nav_msgs
pluginlib
sensor_msgs
nav2_msgs
rclcpp
std_msgs
tf2
tf2_ros
visualization_msgs
nav2_voxel_grid
nav2_costmap_2d)
set(library_name nonpersistent_voxel_layer_core)
add_definitions(${EIGEN3_DEFINITIONS})
include_directories(
include
${EIGEN3_INCLUDE_DIRS}
)
add_library(${library_name} SHARED
plugins/nonpersistent_voxel_layer.cpp
)
target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
target_link_libraries(${library_name}
${EIGEN3_LIBRARIES}
)
ament_target_dependencies(${library_name}
${dependencies}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
install(TARGETS ${library_name}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib
)
install(DIRECTORY example
DESTINATION share/${PROJECT_NAME}
)
install(FILES costmap_plugins.xml
DESTINATION share/${PROJECT_NAME}
)
ament_export_include_directories(include)
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})
pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
ament_package()