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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(ddg_multi_robot_planner)
set(lib_name ${PROJECT_NAME}_node)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(ddg_multi_robot_srvs REQUIRED)
# Find Boost
find_package(Boost REQUIRED COMPONENTS program_options system filesystem)
include_directories(
"include/${PROJECT_NAME}"
# ${PROJECT_NAME}/srv
${Boost_INCLUDE_DIRS}
)
set(dependencies
rclcpp
nav_msgs
nav2_msgs
nav2_costmap_2d
geometry_msgs
visualization_msgs
tf2
tf2_ros
ddg_multi_robot_srvs
)
file(GLOB SOURCES "src/*.cpp")
add_executable(${lib_name} ${SOURCES})
target_link_libraries(${lib_name} ${Boost_LIBRARIES})
ament_target_dependencies(${lib_name}
${dependencies}
)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY maps DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY include/
DESTINATION include/
)
install(TARGETS ${lib_name}
DESTINATION lib/${PROJECT_NAME}
)
ament_export_include_directories(include)
ament_export_libraries(${lib_name})
ament_export_dependencies(${dependencies}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()