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Make nav2_bt_navigator use modern CMake idioms. #4580

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merged 1 commit into from
Jul 30, 2024
Merged

Make nav2_bt_navigator use modern CMake idioms. #4580

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130 changes: 81 additions & 49 deletions nav2_bt_navigator/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,79 +2,110 @@ cmake_minimum_required(VERSION 3.5)
project(nav2_bt_navigator)

find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_behavior_tree REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(behaviortree_cpp REQUIRED)
find_package(std_srvs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_core REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(tf2_ros REQUIRED)

nav2_package()

include_directories(
include
)

set(executable_name bt_navigator)

add_executable(${executable_name}
src/main.cpp
)

set(library_name ${executable_name}_core)

set(dependencies
rclcpp
rclcpp_action
rclcpp_lifecycle
rclcpp_components
std_msgs
geometry_msgs
nav2_behavior_tree
nav_msgs
nav2_msgs
behaviortree_cpp
std_srvs
nav2_util
nav2_core
tf2_ros
pluginlib
)

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

ament_target_dependencies(${executable_name}
${dependencies}
target_include_directories(${library_name}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(${library_name} PUBLIC
nav2_core::nav2_core
nav2_util::nav2_util_core
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_action::rclcpp_action
tf2_ros::tf2_ros
)
target_link_libraries(${library_name} PRIVATE
nav2_behavior_tree::nav2_behavior_tree
rclcpp_components::component
rclcpp_lifecycle::rclcpp_lifecycle
)

target_link_libraries(${executable_name} ${library_name})

ament_target_dependencies(${library_name}
${dependencies}
add_executable(${executable_name}
src/main.cpp
)
target_include_directories(${executable_name}
PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(${executable_name} PRIVATE
${library_name}
rclcpp::rclcpp
)

add_library(nav2_navigate_to_pose_navigator SHARED src/navigators/navigate_to_pose.cpp)
ament_target_dependencies(nav2_navigate_to_pose_navigator ${dependencies})
target_include_directories(nav2_navigate_to_pose_navigator
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(nav2_navigate_to_pose_navigator PUBLIC
${geometry_msgs_TARGETS}
nav2_core::nav2_core
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
${nav_msgs_TARGETS}
rclcpp::rclcpp
rclcpp_action::rclcpp_action
)
target_link_libraries(nav2_navigate_to_pose_navigator PRIVATE
ament_index_cpp::ament_index_cpp
nav2_behavior_tree::nav2_behavior_tree
pluginlib::pluginlib
rclcpp_lifecycle::rclcpp_lifecycle
)

add_library(nav2_navigate_through_poses SHARED src/navigators/navigate_through_poses.cpp)
ament_target_dependencies(nav2_navigate_through_poses ${dependencies})
target_include_directories(nav2_navigate_through_poses
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(nav2_navigate_through_poses PUBLIC
${geometry_msgs_TARGETS}
nav2_core::nav2_core
${nav2_msgs_TARGETS}
${nav_msgs_TARGETS}
nav2_util::nav2_util_core
rclcpp::rclcpp
rclcpp_action::rclcpp_action
)
target_link_libraries(nav2_navigate_through_poses PRIVATE
ament_index_cpp::ament_index_cpp
pluginlib::pluginlib
rclcpp_lifecycle::rclcpp_lifecycle
)

pluginlib_export_plugin_description_file(nav2_core navigator_plugins.xml)
rclcpp_components_register_nodes(${library_name} "nav2_bt_navigator::BtNavigator")

install(TARGETS ${library_name} nav2_navigate_to_pose_navigator nav2_navigate_through_poses
EXPORT export_${library_name}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
Expand All @@ -85,7 +116,7 @@ install(TARGETS ${executable_name}
)

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

install(DIRECTORY behavior_trees DESTINATION share/${PROJECT_NAME})
Expand All @@ -95,7 +126,8 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_export_include_directories(include/${PROJECT_NAME})
ament_export_libraries(${library_name} nav2_navigate_to_pose_navigator nav2_navigate_through_poses)
ament_export_dependencies(${dependencies})
ament_export_dependencies(geometry_msgs nav2_core nav2_msgs nav2_util nav_msgs pluginlib rclcpp rclcpp_action tf2_ros)
ament_export_targets(export_${library_name})
ament_package()
40 changes: 13 additions & 27 deletions nav2_bt_navigator/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,36 +7,22 @@
<maintainer email="[email protected]">Michael Jeronimo</maintainer>
<license>Apache-2.0</license>

<depend>tf2_ros</depend>

<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>nav2_common</build_depend>
<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_action</build_depend>
<build_depend>rclcpp_lifecycle</build_depend>
<build_depend>nav2_behavior_tree</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>nav2_msgs</build_depend>
<build_depend>behaviortree_cpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>std_srvs</build_depend>
<build_depend>nav2_util</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>nav2_core</build_depend>

<exec_depend>behaviortree_cpp</exec_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_action</exec_depend>
<exec_depend>rclcpp_lifecycle</exec_depend>
<exec_depend>nav2_behavior_tree</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>nav2_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>nav2_util</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>pluginlib</exec_depend>
<exec_depend>nav2_core</exec_depend>
<depend>ament_index_cpp</depend>
<depend>geometry_msgs</depend>
<depend>nav2_behavior_tree</depend>
<depend>nav2_core</depend>
<depend>nav2_msgs</depend>
<depend>nav2_util</depend>
<depend>nav_msgs</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rclcpp_action</depend>
<depend>rclcpp_components</depend>
<depend>rclcpp_lifecycle</depend>
<depend>tf2_ros</depend>

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