update hieplm

src/Navigations/Cores/move_base_core/CMakeLists.txt

@@ -1,41 +1,64 @@
 cmake_minimum_required(VERSION 3.10)
-
-# Tên dự án
 project(move_base_core VERSION 1.0.0 LANGUAGES CXX)
 
 # Chuẩn C++
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-# Cho phép các project khác include được header của move_base_core
-set(MOVE_BASE_CORE_INCLUDE_DIRS
-    ${CMAKE_CURRENT_SOURCE_DIR}/include
-    PARENT_SCOPE
-)
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building move_base_core with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building move_base_core with Standalone CMake")
+endif()
 
-include_directories(
-        ${PROJECT_SOURCE_DIR}/include
-)
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS tf3 robot_time robot_geometry_msgs robot_protocol_msgs robot_nav_2d_msgs)
+
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES move_base_core
+    CATKIN_DEPENDS tf3 robot_time robot_geometry_msgs robot_protocol_msgs robot_nav_2d_msgs
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+  )
+endif()
 
 # Tìm tất cả header files
 file(GLOB HEADERS "include/move_base_core/*.h")
-
 # Tạo INTERFACE library (header-only)
 add_library(move_base_core INTERFACE)
-target_link_libraries(move_base_core 
-        INTERFACE tf3 robot_time robot_geometry_msgs robot_protocol_msgs)
 
-# Set include directories
+# Set include directories trước khi link libraries
 target_include_directories(move_base_core
     INTERFACE 
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>
 )
 
+# Link với dependencies - include directories sẽ được truyền tự động qua INTERFACE properties
+if(BUILDING_WITH_CATKIN)
+  target_link_libraries(move_base_core INTERFACE ${catkin_TARGETS})
+else()
+  target_link_libraries(move_base_core 
+  INTERFACE 
+      tf3 
+      robot_time 
+      robot_geometry_msgs 
+      robot_protocol_msgs
+      robot_nav_2d_msgs  # Thêm vì navigation.h include robot_nav_2d_msgs/Twist2DStamped.h
+  )
+endif()
+
 # Cài đặt header files
-install(DIRECTORY include/move_base_core 
-        DESTINATION include
-        FILES_MATCHING PATTERN "*.h")
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/move_base_core 
+          DESTINATION include
+          FILES_MATCHING PATTERN "*.h")
+endif()
 
 # Cài đặt target
 install(TARGETS move_base_core 

src/Navigations/Cores/move_base_core/package.xml

@@ -19,8 +19,16 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_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>
+  <build_depend>robot_nav_2d_msgs</build_depend>
 
-  <run_depend>libconsole-bridge-dev</run_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>
+  <run_depend>robot_nav_2d_msgs</run_depend>
 
 </package>