HiepLM/pnkx_nav_core
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update tf3

Browse Source
This commit is contained in:
HiepLM
2026-02-07 11:06:51 +07:00
parent 81714a242d
commit 3f3425228c
21 changed files with 107 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/Navigations/Cores/move_base_core/package.xml
View File

@@ -24,7 +24,6 @@
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>tf3</build_depend>
<build_depend>robot_time</build_depend>
<build_depend>robot_geometry_msgs</build_depend>
<build_depend>robot_protocol_msgs</build_depend>
@@ -34,7 +33,7 @@
<build_depend>robot_sensor_msgs</build_depend>
<build_depend>robot_map_msgs</build_depend>
<run_depend>tf3</run_depend>
<run_depend>robot_time</run_depend>
<run_depend>robot_geometry_msgs</run_depend>
<run_depend>robot_protocol_msgs</run_depend>

9
src/Navigations/Cores/robot_nav_core/CMakeLists.txt
View File

@@ -30,7 +30,7 @@ if (NOT BUILDING_WITH_CATKIN)
tf3
robot_protocol_msgs
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else()
# ========================================================
@@ -38,19 +38,19 @@ else()
# ========================================================
find_package(catkin REQUIRED COMPONENTS
robot_costmap_2d
tf3
robot_protocol_msgs
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
CATKIN_DEPENDS robot_costmap_2d tf3 robot_protocol_msgs
CATKIN_DEPENDS robot_costmap_2d robot_protocol_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
)
endif()
@@ -89,6 +89,7 @@ else()
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
${TF3_LIBRARY}
)
endif()

4
src/Navigations/Cores/robot_nav_core/package.xml
View File

@@ -22,8 +22,8 @@
<build_depend>robot_costmap_2d</build_depend>
<run_depend>robot_costmap_2d</run_depend>
<build_depend>tf3</build_depend>
<run_depend>tf3</run_depend>
<build_depend>robot_protocol_msgs</build_depend>
<run_depend>robot_protocol_msgs</run_depend>

12
src/Navigations/Cores/robot_nav_core2/CMakeLists.txt
View File

@@ -33,7 +33,7 @@ if (NOT BUILDING_WITH_CATKIN)
robot_cpp
robot_geometry_msgs
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else()
# ========================================================
@@ -41,22 +41,22 @@ else()
# ========================================================
find_package(catkin REQUIRED COMPONENTS
robot_costmap_2d
tf3
nav_grid
robot_nav_2d_msgs
robot_cpp
robot_geometry_msgs
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
CATKIN_DEPENDS robot_costmap_2d tf3 nav_grid robot_nav_2d_msgs robot_cpp robot_geometry_msgs
CATKIN_DEPENDS robot_costmap_2d nav_grid robot_nav_2d_msgs robot_cpp robot_geometry_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
)
endif()
@@ -80,6 +80,7 @@ if(BUILDING_WITH_CATKIN)
target_link_libraries(${PROJECT_NAME}
INTERFACE
${catkin_LIBRARIES}
${TF3_LIBRARY}
)
else()
@@ -95,6 +96,7 @@ else()
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
${TF3_LIBRARY}
)
endif()
@@ -147,6 +149,6 @@ else()
foreach(hdr ${HEADERS})
message(STATUS " - ${hdr}")
endforeach()
message(STATUS "Dependencies: robot_costmap_2d, tf3, nav_grid, robot_nav_2d_msgs, robot_cpp, robot_geometry_msgs")
message(STATUS "Dependencies: robot_costmap_2d, nav_grid, robot_nav_2d_msgs, robot_cpp, robot_geometry_msgs")
message(STATUS "=================================")
endif()

4
src/Navigations/Cores/robot_nav_core2/package.xml
View File

@@ -22,8 +22,8 @@
<build_depend>robot_costmap_2d</build_depend>
<run_depend>robot_costmap_2d</run_depend>
<build_depend>tf3</build_depend>
<run_depend>tf3</run_depend>
<build_depend>nav_grid</build_depend>
<run_depend>nav_grid</run_depend>

11
src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt
View File

@@ -34,6 +34,7 @@ if (NOT BUILDING_WITH_CATKIN)
tf3
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else()
# ========================================================
@@ -43,16 +44,15 @@ else()
robot_nav_core
robot_costmap_2d
robot_cpp
tf3
)
# Find dependencies
find_package(Boost REQUIRED COMPONENTS system thread)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS robot_cpp robot_nav_core robot_costmap_2d tf3
CATKIN_DEPENDS robot_cpp robot_nav_core robot_costmap_2d
DEPENDS Boost
)
@@ -60,6 +60,7 @@ else()
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
)
endif()
@@ -77,6 +78,7 @@ else()
PUBLIC
${PACKAGES_DIR}
${Boost_LIBRARIES}
${TF3_LIBRARY}
)
set_target_properties(${PROJECT_NAME} PROPERTIES
@@ -89,6 +91,7 @@ else()
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${TF3_INCLUDE_DIR}
)
endif()
@@ -136,6 +139,6 @@ else()
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Libraries: ${PROJECT_NAME}")
message(STATUS "Dependencies: robot_nav_core, robot_costmap_2d, robot_cpp, tf3, Boost")
message(STATUS "Dependencies: robot_nav_core, robot_costmap_2d, robot_cpp, Boost")
message(STATUS "=================================")
endif()

4
src/Navigations/Libraries/robot_clear_costmap_recovery/package.xml
View File

@@ -22,6 +22,6 @@
<build_depend>robot_cpp</build_depend>
<run_depend>robot_cpp</run_depend>
<build_depend>tf3</build_depend>
<run_depend>tf3</run_depend>
</package>

63
src/Navigations/Packages/move_base/CMakeLists.txt
View File

@@ -37,6 +37,7 @@ if (NOT BUILDING_WITH_CATKIN)
robot_nav_core
robot_costmap_2d
plugins
tf3
robot_tf3_sensor_msgs
robot_tf3_geometry_msgs
data_convert
@@ -44,7 +45,7 @@ if (NOT BUILDING_WITH_CATKIN)
robot_cpp
robot_move_base_msgs
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else()
# ========================================================
@@ -63,7 +64,7 @@ else()
robot_cpp
robot_move_base_msgs
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
@@ -75,6 +76,7 @@ else()
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
)
endif()
@@ -98,12 +100,14 @@ if(BUILDING_WITH_CATKIN)
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${TF3_INCLUDE_DIR}
)
target_link_libraries(${PROJECT_NAME}
PUBLIC ${catkin_LIBRARIES}
PRIVATE Boost::filesystem Boost::system
dl
${TF3_LIBRARY}
)
else()
@@ -112,11 +116,13 @@ else()
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${TF3_INCLUDE_DIR}
)
target_link_libraries(${PROJECT_NAME}
PUBLIC
${PACKAGES_DIR}
${TF3_LIBRARY}
PRIVATE
Boost::filesystem Boost::system
yaml-cpp
@@ -134,30 +140,32 @@ endif()
# ========================================================
# Executable
# ========================================================
# add_executable(${PROJECT_NAME}_main src/move_base_main.cpp)
add_executable(${PROJECT_NAME}_main src/move_base_main.cpp)
# if(BUILDING_WITH_CATKIN)
# target_link_libraries(${PROJECT_NAME}_main PRIVATE
# ${PROJECT_NAME}
# robot_cpp
# Boost::filesystem Boost::system
# dl
# )
# else()
# target_link_libraries(${PROJECT_NAME}_main PRIVATE
# ${PROJECT_NAME}
# robot_cpp
# Boost::filesystem Boost::system
# dl
# )
if(BUILDING_WITH_CATKIN)
target_link_libraries(${PROJECT_NAME}_main PRIVATE
${PROJECT_NAME}
robot_cpp
Boost::filesystem Boost::system
dl
${TF3_LIBRARY}
)
else()
target_link_libraries(${PROJECT_NAME}_main PRIVATE
${PROJECT_NAME}
robot_cpp
Boost::filesystem Boost::system
dl
${TF3_LIBRARY}
)
# # Configure RPATH to find libraries in devel space
# set_target_properties(${PROJECT_NAME}_main PROPERTIES
# BUILD_WITH_INSTALL_RPATH FALSE
# INSTALL_RPATH_USE_LINK_PATH TRUE
# BUILD_RPATH "${CMAKE_BINARY_DIR}"
# )
# endif()
# Configure RPATH to find libraries in devel space
set_target_properties(${PROJECT_NAME}_main PROPERTIES
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH TRUE
BUILD_RPATH "${CMAKE_BINARY_DIR}"
)
endif()
# ========================================================
# Install
@@ -165,8 +173,7 @@ endif()
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
install(TARGETS ${PROJECT_NAME}
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
@@ -180,9 +187,7 @@ if(BUILDING_WITH_CATKIN)
)
else()
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
install(TARGETS ${PROJECT_NAME}
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib