Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Switch nav2_theta_star_planner to modern CMake idioms. #4604

Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
82 changes: 48 additions & 34 deletions nav2_theta_star_planner/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -2,80 +2,94 @@ cmake_minimum_required(VERSION 3.5)
project(nav2_theta_star_planner)

find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rcl_interfaces REQUIRED)
find_package(tf2_ros REQUIRED)

nav2_package() #Calls the nav2_package.cmake file
add_compile_options(-O3)

include_directories(
include
)
nav2_package()

set(library_name ${PROJECT_NAME})

set(dependencies ament_cmake
builtin_interfaces
nav2_common
nav2_core
nav2_costmap_2d
nav2_msgs
nav2_util
pluginlib
rclcpp
rclcpp_action
rclcpp_lifecycle
tf2_ros
)


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

ament_target_dependencies(${library_name} ${dependencies})

target_compile_definitions(${library_name} PUBLIC "PLUGINLIB_DISABLE_BOOST_FUNCTIONS")
target_include_directories(${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
pluginlib::pluginlib
)
target_compile_options(${library_name} PRIVATE -O3)

pluginlib_export_plugin_description_file(nav2_core theta_star_planner.xml)

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

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

install(FILES theta_star_planner.xml
DESTINATION share/${PROJECT_NAME}
)


if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(gtest_disable_pthreads OFF)
ament_lint_auto_find_test_dependencies()

find_package(ament_cmake_gtest REQUIRED)

ament_find_gtest()

ament_add_gtest(test_theta_star test/test_theta_star.cpp)
ament_target_dependencies(test_theta_star ${dependencies})
target_link_libraries(test_theta_star ${library_name})
target_link_libraries(test_theta_star
${library_name}
${geometry_msgs_TARGETS}
nav2_costmap_2d::nav2_costmap_2d_core
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
)
endif()


ament_export_include_directories(include)
ament_export_include_directories(include/${PROJECT_NAME})
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})
ament_export_dependencies(
geometry_msgs
nav2_core
nav2_costmap_2dnav2_util
nav_msgs
rclcpp
rclcpp_lifecycle
rcl_interfaces
tf2_ros
)
ament_export_targets(${library_name})
ament_package()
15 changes: 7 additions & 8 deletions nav2_theta_star_planner/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -9,26 +9,25 @@
<license>Apache-2.0</license>

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

<depend>builtin_interfaces</depend>
<depend>nav2_common</depend>
<depend>geometry_msgs</depend>
<depend>nav2_core</depend>
<depend>nav2_costmap_2d</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_lifecycle</depend>
<depend>rcl_interfaces</depend>
<depend>tf2_ros</depend>


<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_cmake_gtest</test_depend>


<export>
<build_type>ament_cmake</build_type>
<nav2_core plugin="${prefix}/global_planner_plugin.xml"/>
</export>
</package>

4 changes: 4 additions & 0 deletions nav2_theta_star_planner/src/theta_star.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <functional>
#include <vector>

#include "geometry_msgs/msg/pose_stamped.hpp"

#include "nav2_core/planner_exceptions.hpp"
#include "nav2_theta_star_planner/theta_star.hpp"

Expand Down
4 changes: 4 additions & 0 deletions nav2_theta_star_planner/src/theta_star_planner.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,10 @@
#include <vector>
#include <memory>
#include <string>

#include "geometry_msgs/msg/pose_stamped.hpp"
#include "rclcpp/rclcpp.hpp"

#include "nav2_theta_star_planner/theta_star_planner.hpp"
#include "nav2_theta_star_planner/theta_star.hpp"

Expand Down
Loading