Switch nav2_smac_planner to modern CMake idioms. (#4634)

Signed-off-by: Chris Lalancette <[email protected]>

nav2_smac_planner/CMakeLists.txt

@@ -4,137 +4,168 @@ project(nav2_smac_planner)
 set(CMAKE_BUILD_TYPE Release) #Debug, Release
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(angles REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(nav2_common REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
-find_package(nav2_util REQUIRED)
 find_package(nav2_core REQUIRED)
-find_package(nav2_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(tf2_ros REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(eigen3_cmake_module REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(angles REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(nlohmann_json REQUIRED)
 find_package(ompl REQUIRED)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
 if(MSVC)
   add_compile_definitions(_USE_MATH_DEFINES)
 else()
   add_compile_options(-O3 -Wextra -Wdeprecated -fPIC)
 endif()
 
-include_directories(
-  include
-  ${OMPL_INCLUDE_DIRS}
-)
-
 set(library_name nav2_smac_planner)
 
-set(dependencies
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  std_msgs
-  visualization_msgs
-  nav2_util
-  nav2_msgs
-  nav_msgs
-  geometry_msgs
-  builtin_interfaces
-  tf2_ros
-  nav2_costmap_2d
-  nav2_core
-  pluginlib
-  angles
-  eigen3_cmake_module
-)
-
-# Hybrid plugin
-add_library(${library_name} SHARED
-  src/smac_planner_hybrid.cpp
+# Common library
+add_library(${library_name}_common SHARED
   src/a_star.cpp
-  src/collision_checker.cpp
-  src/smoother.cpp
   src/analytic_expansion.cpp
-  src/node_hybrid.cpp
-  src/node_lattice.cpp
+  src/collision_checker.cpp
   src/costmap_downsampler.cpp
   src/node_2d.cpp
   src/node_basic.cpp
+  src/node_hybrid.cpp
+  src/node_lattice.cpp
+  src/smoother.cpp
+)
+target_include_directories(${library_name}_common
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries(${library_name}_common PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::layers
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav_msgs_TARGETS}
+  nlohmann_json::nlohmann_json
+  ${OMPL_LIBRARIES}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2::tf2
+  ${visualization_msgs_TARGETS}
+)
+target_link_libraries(${library_name}_common PRIVATE
+  angles::angles
 )
 
-target_link_libraries(${library_name} ${OMPL_LIBRARIES})
-target_include_directories(${library_name} PUBLIC ${Eigen3_INCLUDE_DIRS})
-
-ament_target_dependencies(${library_name}
-  ${dependencies}
+# Hybrid plugin
+add_library(${library_name} SHARED
+  src/smac_planner_hybrid.cpp
+)
+target_include_directories(${library_name}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries(${library_name} PUBLIC
+  ${library_name}_common
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav_msgs_TARGETS}
+  nlohmann_json::nlohmann_json
+  ${OMPL_LIBRARIES}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${visualization_msgs_TARGETS}
+)
+target_link_libraries(${library_name} PRIVATE
+  pluginlib::pluginlib
 )
 
 # 2D plugin
 add_library(${library_name}_2d SHARED
   src/smac_planner_2d.cpp
-  src/a_star.cpp
-  src/smoother.cpp
-  src/collision_checker.cpp
-  src/analytic_expansion.cpp
-  src/node_hybrid.cpp
-  src/node_lattice.cpp
-  src/costmap_downsampler.cpp
-  src/node_2d.cpp
-  src/node_basic.cpp
 )
-
-target_link_libraries(${library_name}_2d ${OMPL_LIBRARIES})
-target_include_directories(${library_name}_2d PUBLIC ${Eigen3_INCLUDE_DIRS})
-
-ament_target_dependencies(${library_name}_2d
-  ${dependencies}
+target_include_directories(${library_name}_2d
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries(${library_name}_2d PUBLIC
+  ${library_name}_common
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav_msgs_TARGETS}
+  nlohmann_json::nlohmann_json
+  ${OMPL_LIBRARIES}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${visualization_msgs_TARGETS}
+)
+target_link_libraries(${library_name}_2d PRIVATE
+  pluginlib::pluginlib
 )
 
 # Lattice plugin
 add_library(${library_name}_lattice SHARED
   src/smac_planner_lattice.cpp
-  src/a_star.cpp
-  src/smoother.cpp
-  src/collision_checker.cpp
-  src/analytic_expansion.cpp
-  src/node_hybrid.cpp
-  src/node_lattice.cpp
-  src/costmap_downsampler.cpp
-  src/node_2d.cpp
-  src/node_basic.cpp
 )
-
-target_link_libraries(${library_name}_lattice ${OMPL_LIBRARIES})
-target_include_directories(${library_name}_lattice PUBLIC ${Eigen3_INCLUDE_DIRS})
-
-ament_target_dependencies(${library_name}_lattice
-  ${dependencies}
+target_include_directories(${library_name}_lattice
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    ${OMPL_INCLUDE_DIRS}
+)
+target_link_libraries(${library_name}_lattice PUBLIC
+  ${library_name}_common
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  ${nav_msgs_TARGETS}
+  nlohmann_json::nlohmann_json
+  ${OMPL_LIBRARIES}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${visualization_msgs_TARGETS}
+)
+target_link_libraries(${library_name}_lattice PRIVATE
+  ament_index_cpp::ament_index_cpp
+  pluginlib::pluginlib
 )
 
 pluginlib_export_plugin_description_file(nav2_core smac_plugin_hybrid.xml)
 pluginlib_export_plugin_description_file(nav2_core smac_plugin_2d.xml)
 pluginlib_export_plugin_description_file(nav2_core smac_plugin_lattice.xml)
 
-install(TARGETS ${library_name} ${library_name}_2d ${library_name}_lattice
+install(TARGETS ${library_name}_common ${library_name} ${library_name}_2d ${library_name}_lattice
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(DIRECTORY lattice_primitives/sample_primitives DESTINATION share/${PROJECT_NAME})
@@ -144,10 +175,25 @@ if(BUILD_TESTING)
   set(AMENT_LINT_AUTO_FILE_EXCLUDE include/nav2_smac_planner/thirdparty/robin_hood.h)
   ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
+  ament_find_gtest()
   add_subdirectory(test)
 endif()
 
-ament_export_include_directories(include ${OMPL_INCLUDE_DIRS})
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(${library_name} ${library_name}_2d ${library_name}_lattice)
-ament_export_dependencies(${dependencies})
+ament_export_dependencies(
+  geometry_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav_msgs
+  nlohmann_json
+  ompl
+  rclcpp
+  rclcpp_lifecycle
+  rcl_interfaces
+  tf2
+  tf2_ros
+  visualization_msgs
+)
+ament_export_targets(${PROJECT_NAME})
 ament_package()

nav2_smac_planner/include/nav2_smac_planner/a_star.hpp

@@ -16,14 +16,12 @@
 #ifndef NAV2_SMAC_PLANNER__A_STAR_HPP_
 #define NAV2_SMAC_PLANNER__A_STAR_HPP_
 
-#include <vector>
-#include <iostream>
-#include <unordered_map>
+#include <functional>
 #include <memory>
 #include <queue>
-#include <utility>
 #include <tuple>
-#include "Eigen/Core"
+#include <utility>
+#include <vector>
 
 #include "nav2_costmap_2d/costmap_2d.hpp"
 #include "nav2_core/planner_exceptions.hpp"

nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp

@@ -15,10 +15,11 @@
 #ifndef NAV2_SMAC_PLANNER__ANALYTIC_EXPANSION_HPP_
 #define NAV2_SMAC_PLANNER__ANALYTIC_EXPANSION_HPP_
 
-#include <string>
-#include <vector>
+#include <functional>
 #include <list>
 #include <memory>
+#include <string>
+#include <vector>
 
 #include "nav2_smac_planner/node_2d.hpp"
 #include "nav2_smac_planner/node_hybrid.hpp"

nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
-#include <vector>
 #include <memory>
+#include <vector>
 
 #include "nav2_costmap_2d/footprint_collision_checker.hpp"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"

nav2_smac_planner/include/nav2_smac_planner/costmap_downsampler.hpp

@@ -15,9 +15,8 @@
 #ifndef NAV2_SMAC_PLANNER__COSTMAP_DOWNSAMPLER_HPP_
 #define NAV2_SMAC_PLANNER__COSTMAP_DOWNSAMPLER_HPP_
 
-#include <algorithm>
-#include <string>
 #include <memory>
+#include <string>
 
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 #include "nav2_smac_planner/constants.hpp"

nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp

@@ -15,14 +15,10 @@
 #ifndef NAV2_SMAC_PLANNER__NODE_2D_HPP_
 #define NAV2_SMAC_PLANNER__NODE_2D_HPP_
 
-#include <math.h>
-#include <vector>
-#include <iostream>
-#include <memory>
-#include <queue>
-#include <limits>
-#include <utility>
 #include <functional>
+#include <memory>
+#include <stdexcept>
+#include <vector>
 
 #include "nav2_smac_planner/types.hpp"
 #include "nav2_smac_planner/constants.hpp"

nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp

@@ -15,18 +15,6 @@
 #ifndef NAV2_SMAC_PLANNER__NODE_BASIC_HPP_
 #define NAV2_SMAC_PLANNER__NODE_BASIC_HPP_
 
-#include <math.h>
-#include <vector>
-#include <cmath>
-#include <iostream>
-#include <functional>
-#include <queue>
-#include <memory>
-#include <utility>
-#include <limits>
-
-#include "ompl/base/StateSpace.h"
-
 #include "nav2_smac_planner/constants.hpp"
 #include "nav2_smac_planner/node_hybrid.hpp"
 #include "nav2_smac_planner/node_lattice.hpp"

nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp

@@ -15,15 +15,10 @@
 #ifndef NAV2_SMAC_PLANNER__NODE_HYBRID_HPP_
 #define NAV2_SMAC_PLANNER__NODE_HYBRID_HPP_
 
-#include <math.h>
-#include <vector>
-#include <cmath>
-#include <iostream>
 #include <functional>
-#include <queue>
 #include <memory>
 #include <utility>
-#include <limits>
+#include <vector>
 
 #include "ompl/base/StateSpace.h"