update

Controllers/Packages/amr_control/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
   loc_core
   amr_comunication
   vda5050_msgs
+  nav_msgs
 
   robot_nav_2d_utils
   move_base_core
@@ -74,6 +75,10 @@ add_library(${PROJECT_NAME}
   src/amr_make_plan_with_order.cpp
 )
 
+add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp)
+add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
 ## either from message generation or dynamic reconfigure
@@ -115,21 +120,9 @@ set_target_properties(${PROJECT_NAME}_node PROPERTIES
     BUILD_RPATH "${CATKIN_DEVEL_PREFIX}/lib"
 )
 
-# add_dependencies(vda_5050_api_test
-#   ${PROJECT_NAME}
-#   ${${PROJECT_NAME}_EXPORTED_TARGETS} 
-#   ${catkin_EXPORTED_TARGETS}
-# )
-# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
-# Libraries will be found via LD_LIBRARY_PATH or system paths
-# set_target_properties(vda_5050_api_test PROPERTIES
-#     SKIP_BUILD_RPATH TRUE
-#     BUILD_WITH_INSTALL_RPATH FALSE
-#     INSTALL_RPATH_USE_LINK_PATH FALSE
-# )
-
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
+  ${PROJECT_NAME}_converter
   ${FreeOpcUa_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
@@ -137,16 +130,11 @@ target_link_libraries(${PROJECT_NAME}
 
 target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}
+  ${PROJECT_NAME}_converter
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
 )
 
-# target_link_libraries(vda_5050_api_test
-#   ${PROJECT_NAME}
-#   ${catkin_LIBRARIES}
-#   ${Boost_LIBRARIES}
-# )
-
 
 #############
 ## Install ##