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Switch dwb_plugins to modern CMake idioms. #4629

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merged 1 commit into from
Aug 20, 2024
Merged

Switch dwb_plugins to modern CMake idioms. #4629

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75 changes: 47 additions & 28 deletions nav2_dwb_controller/dwb_plugins/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,38 +2,41 @@ cmake_minimum_required(VERSION 3.5)
project(dwb_plugins)

find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(angles REQUIRED)
find_package(dwb_core REQUIRED)
find_package(dwb_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav_2d_msgs REQUIRED)
find_package(nav_2d_utils REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav2_util REQUIRED)
find_package(rcl_interfaces REQUIRED)

nav2_package()

set(dependencies
angles
dwb_core
nav_2d_msgs
nav_2d_utils
pluginlib
rclcpp
nav2_util
add_library(standard_traj_generator SHARED
src/standard_traj_generator.cpp
src/limited_accel_generator.cpp
src/kinematic_parameters.cpp
src/xy_theta_iterator.cpp)
target_include_directories(standard_traj_generator PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)

include_directories(
include
target_link_libraries(standard_traj_generator PUBLIC
dwb_core::dwb_core
${dwb_msgs_TARGETS}
${geometry_msgs_TARGETS}
nav2_util::nav2_util_core
${nav_2d_msgs_TARGETS}
rclcpp::rclcpp
${rcl_interfaces_TARGETS}
)
target_link_libraries(standard_traj_generator PRIVATE
nav_2d_utils::conversions
pluginlib::pluginlib
)

add_library(standard_traj_generator SHARED
src/standard_traj_generator.cpp
src/limited_accel_generator.cpp
src/kinematic_parameters.cpp
src/xy_theta_iterator.cpp)
ament_target_dependencies(standard_traj_generator ${dependencies})


if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
Expand All @@ -42,23 +45,39 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()

find_package(ament_cmake_gtest REQUIRED)
ament_find_gtest()

find_package(nav2_costmap_2d REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
add_subdirectory(test)
endif()

install(TARGETS standard_traj_generator
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
EXPORT ${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/
DESTINATION include/
DESTINATION include/${PROJECT_NAME}
)
install(FILES plugins.xml
DESTINATION share/${PROJECT_NAME}
DESTINATION share/${PROJECT_NAME}
)

ament_export_include_directories(include)
ament_export_include_directories(include/${PROJECT_NAME})
ament_export_libraries(standard_traj_generator)
ament_export_dependencies(
dwb_core
dwb_msgs
geometry_msgs
nav2_util
nav_2d_msgs
rclcpp
rcl_interfaces
)
ament_export_targets(${PROJECT_NAME})

pluginlib_export_plugin_description_file(dwb_core plugins.xml)

ament_package()
1 change: 0 additions & 1 deletion nav2_dwb_controller/dwb_plugins/include/dwb_plugins/velocity_iterator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,6 @@
#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "nav_2d_msgs/msg/twist2_d.hpp"
#include "dwb_plugins/kinematic_parameters.hpp"
#include "nav2_util/lifecycle_node.hpp"
Expand Down
10 changes: 7 additions & 3 deletions nav2_dwb_controller/dwb_plugins/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,17 +12,21 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>nav2_common</build_depend>

<depend>angles</depend>
<depend>dwb_core</depend>
<depend>dwb_msgs</depend>
<depend>geometry_msgs</depend>
<depend>nav2_util</depend>
<depend>nav_2d_msgs</depend>
<depend>nav_2d_utils</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>nav2_util</depend>
<depend>rcl_interfaces</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>nav2_costmap_2d</test_depend>
<test_depend>rclcpp_lifecycle</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
25 changes: 22 additions & 3 deletions nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,10 +1,29 @@
ament_add_gtest(vtest velocity_iterator_test.cpp)
target_link_libraries(vtest standard_traj_generator)

ament_add_gtest(twist_gen_test twist_gen.cpp)
target_link_libraries(twist_gen_test standard_traj_generator)
target_link_libraries(twist_gen_test
standard_traj_generator
dwb_core::dwb_core
${dwb_msgs_TARGETS}
${geometry_msgs_TARGETS}
nav2_util::nav2_util_core
${nav_2d_msgs_TARGETS}
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
)

ament_add_gtest(kinematic_parameters_test kinematic_parameters_test.cpp)
target_link_libraries(kinematic_parameters_test standard_traj_generator)
target_link_libraries(kinematic_parameters_test
standard_traj_generator
rclcpp::rclcpp
${rcl_interfaces_TARGETS}
)

ament_add_gtest(speed_limit_test speed_limit_test.cpp)
target_link_libraries(speed_limit_test standard_traj_generator)
target_link_libraries(speed_limit_test
standard_traj_generator
nav2_costmap_2d::nav2_costmap_2d_core
nav2_util::nav2_util_core
rclcpp::rclcpp
)
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