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Make nav2_core an INTERFACE library. #4578

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Jul 30, 2024
Merged

Make nav2_core an INTERFACE library. #4578

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66 changes: 44 additions & 22 deletions nav2_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,36 +2,47 @@ cmake_minimum_required(VERSION 3.5)
project(nav2_core)

find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_behavior_tree REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(pluginlib REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_behavior_tree REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(tf2_ros REQUIRED)

nav2_package()

set(dependencies
rclcpp
rclcpp_lifecycle
std_msgs
geometry_msgs
nav2_costmap_2d
pluginlib
visualization_msgs
nav_msgs
tf2_ros
nav2_util
nav2_behavior_tree
add_library(nav2_core INTERFACE)
target_include_directories(nav2_core
INTERFACE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(nav2_core INTERFACE
${geometry_msgs_TARGETS}
nav2_behavior_tree::nav2_behavior_tree
nav2_costmap_2d::nav2_costmap_2d_core
nav2_costmap_2d::nav2_costmap_2d_client
nav2_util::nav2_util_core
${nav_msgs_TARGETS}
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
tf2_ros::tf2_ros
)

install(TARGETS nav2_core
EXPORT nav2_core
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

install(DIRECTORY include/
DESTINATION include/
DESTINATION include/${PROJECT_NAME}
)

if(BUILD_TESTING)
Expand All @@ -41,7 +52,18 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_export_dependencies(${dependencies})
ament_export_include_directories(include/${PROJECT_NAME})
ament_export_dependencies(
geometry_msgs
nav2_behavior_tree
nav2_costmap_2d
nav2_util
nav_msgs
pluginlib
rclcpp
rclcpp_lifecycle
tf2_ros
)
ament_export_targets(nav2_core)

ament_package()
15 changes: 5 additions & 10 deletions nav2_core/package.xml
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Expand Up @@ -11,23 +11,18 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>nav2_common</build_depend>

<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>nav2_behavior_tree</depend>
<depend>nav2_costmap_2d</depend>
<depend>pluginlib</depend>
<depend>nav2_util</depend>
<depend>nav_msgs</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<depend>tf2_ros</depend>
<depend>nav2_util</depend>
<depend>nav2_behavior_tree</depend>

<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_testing</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
2 changes: 2 additions & 0 deletions nav2_graceful_controller/CMakeLists.txt
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Expand Up @@ -14,6 +14,7 @@ find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(nav_2d_utils REQUIRED)
find_package(angles REQUIRED)
find_package(visualization_msgs REQUIRED)

nav2_package()

Expand All @@ -33,6 +34,7 @@ set(dependencies
tf2_geometry_msgs
nav_2d_utils
angles
visualization_msgs
)

# Add Smooth Control Law as library
Expand Down
1 change: 1 addition & 0 deletions nav2_graceful_controller/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
<depend>tf2_geometry_msgs</depend>
<depend>nav_2d_utils</depend>
<depend>angles</depend>
<depend>visualization_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
Expand Down
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