1738_29102025

CMakeLists.txt

@@ -12,6 +12,15 @@ if (NOT TARGET geometry_msgs)
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
 endif()
 
+if (NOT TARGET nav_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build)
+endif()
+
+if (NOT TARGET map_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build)
+endif()
+
+
 # ---- Dependencies ----
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
@@ -41,13 +50,16 @@ target_link_libraries(costmap_2d
     ${Boost_LIBRARIES}
     sensor_msgs
     geometry_msgs
+    nav_msgs
+    map_msgs
+    tf2
 )
 
 # # ---- Layer plugins ----
 add_library(layers
     plugins/inflation_layer.cpp
-#     plugins/obstacle_layer.cpp
-#     plugins/static_layer.cpp
+    plugins/obstacle_layer.cpp
+    plugins/static_layer.cpp
 #     plugins/voxel_layer.cpp
 )