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Switch nav2_navfn_planner to modern CMake idioms. #4591

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merged 1 commit into from
Aug 2, 2024
Merged

Switch nav2_navfn_planner to modern CMake idioms. #4591

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81 changes: 43 additions & 38 deletions nav2_navfn_planner/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,66 +2,58 @@ cmake_minimum_required(VERSION 3.5)
project(nav2_navfn_planner)

find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces 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(nav2_util REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(tf2_ros REQUIRED)

nav2_package()

include_directories(
include
)

set(library_name nav2_navfn_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
)

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

ament_target_dependencies(${library_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
${geometry_msgs_TARGETS}
nav2_core::nav2_core
nav2_costmap_2d::nav2_costmap_2d_core
nav2_util::nav2_util_core
${nav_msgs_TARGETS}
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
${rcl_interfaces_TARGETS}
tf2_ros::tf2_ros
)
target_link_libraries(${library_name} PRIVATE
${builtin_interfaces_TARGETS}
pluginlib::pluginlib
)

pluginlib_export_plugin_description_file(nav2_core global_planner_plugin.xml)

install(TARGETS ${library_name}
EXPORT ${library_name}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

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

install(FILES global_planner_plugin.xml
Expand All @@ -72,10 +64,23 @@ if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
ament_lint_auto_find_test_dependencies()

ament_find_gtest()
add_subdirectory(test)
endif()

ament_export_include_directories(include)
ament_export_include_directories(include/${PROJECT_NAME})
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})
ament_export_dependencies(
geometry_msgs
nav2_core
nav2_costmap_2d
nav2_util
nav_msgs
rclcpp
rclcpp_lifecycle
rcl_interfaces
tf2_ros
)
ament_export_targets(${library_name})
ament_package()
17 changes: 7 additions & 10 deletions nav2_navfn_planner/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,21 +10,18 @@
<license>BSD-3-Clause</license>

<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>nav2_common</build_depend>

<depend>rclcpp</depend>
<depend>rclcpp_action</depend>
<depend>rclcpp_lifecycle</depend>
<depend>visualization_msgs</depend>
<depend>nav2_util</depend>
<depend>nav2_msgs</depend>
<depend>nav_msgs</depend>
<depend>geometry_msgs</depend>
<depend>builtin_interfaces</depend>
<depend>nav2_common</depend>
<depend>tf2_ros</depend>
<depend>geometry_msgs</depend>
<depend>nav2_costmap_2d</depend>
<depend>nav2_core</depend>
<depend>nav2_util</depend>
<depend>nav_msgs</depend>
<depend>pluginlib</depend>
<depend>rclcpp</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
7 changes: 4 additions & 3 deletions nav2_navfn_planner/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,10 @@
ament_add_gtest(test_dynamic_parameters
test_dynamic_parameters.cpp
)
ament_target_dependencies(test_dynamic_parameters
${dependencies}
)
target_link_libraries(test_dynamic_parameters
${library_name}
nav2_costmap_2d::nav2_costmap_2d_core
nav2_util::nav2_util_core
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
)
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