HiepLM/pnkx_nav_core
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HiepLM 2025-12-29 18:01:53 +07:00
parent 4dc37109eb
commit dad149d2cb
8 changed files with 47 additions and 56 deletions
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72
CMakeLists.txt
View File

@ -38,8 +38,8 @@ if (NOT TARGET robot_time)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_time)
endif()
if (NOT TARGET xmlrpcpp)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/xmlrpcpp)
if (NOT TARGET robot_xmlrpcpp)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_xmlrpcpp)
endif()
if (NOT TARGET robot_cpp)
@ -98,57 +98,57 @@ if (NOT TARGET move_base_core)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Cores/move_base_core)
endif()
# if (NOT TARGET mkt_msgs)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_msgs)
# endif()
if (NOT TARGET mkt_msgs)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_msgs)
endif()
# if (NOT TARGET angles)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/angles)
# endif()
if (NOT TARGET angles)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/angles)
endif()
# if (NOT TARGET kalman)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/kalman)
# endif()
if (NOT TARGET kalman)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/kalman)
endif()
# if (NOT TARGET score_algorithm)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Cores/score_algorithm)
# endif()
if (NOT TARGET score_algorithm)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Cores/score_algorithm)
endif()
# if (NOT TARGET mkt_plugins)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_plugins)
# endif()
if (NOT TARGET mkt_plugins)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_plugins)
endif()
# if (NOT TARGET mkt_algorithm)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_algorithm)
# endif()
if (NOT TARGET mkt_algorithm)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_algorithm)
endif()
# if (NOT TARGET two_points_planner)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/two_points_planner)
# endif()
if (NOT TARGET two_points_planner)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/two_points_planner)
endif()
# if (NOT TARGET custom_planner)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/custom_planner)
# endif()
if (NOT TARGET custom_planner)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/custom_planner)
endif()
# if (NOT TARGET dock_planner)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/dock_planner)
# endif()
if (NOT TARGET dock_planner)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/dock_planner)
endif()
# if (NOT TARGET pnkx_local_planner)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/local_planners/pnkx_local_planner)
# endif()
if (NOT TARGET pnkx_local_planner)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/local_planners/pnkx_local_planner)
endif()
# 2. Main packages (phụ thuộc vào cores)
message(STATUS "[move_base] Shared library configured")
# message(STATUS "[move_base] Shared library configured")
if (NOT TARGET move_base)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Packages/move_base)
endif()
# C API for .NET/C# integration
if (NOT TARGET navigation_c_api)
add_subdirectory(${CMAKE_SOURCE_DIR}/src/APIs/c_api)
endif()
# if (NOT TARGET navigation_c_api)
# add_subdirectory(${CMAKE_SOURCE_DIR}/src/APIs/c_api)
# endif()
message(STATUS "========================================")
message(STATUS "All packages configured successfully")

2
src/Libraries/costmap_2d

@ -1 +1 @@
Subproject commit 59b0b1a806d8da28c32694f04d83985c727ea280
Subproject commit 71adf1390fe7c1bad3823d25a06db43a9c46278b

2
src/Libraries/robot_cpp

@ -1 +1 @@
Subproject commit dc9362cb0b1e04247a7918c0410411a5583a281f
Subproject commit cb9dfe5c9be8d99a8b14dd0718a2da986aca5ef4

14
src/Libraries/robot_nav_2d_utils/CMakeLists.txt
View File

@ -12,8 +12,8 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Find dependencies
find_package(console_bridge REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(xmlrpcpp QUIET)
if(NOT xmlrpcpp_FOUND)
find_package(robot_xmlrpcpp QUIET)
if(NOT robot_xmlrpcpp_FOUND)
# Try alternative package name
find_package(XmlRpcCpp QUIET)
endif()
@ -63,21 +63,21 @@ target_include_directories(polygons
$<INSTALL_INTERFACE:include>
)
if(xmlrpcpp_FOUND)
target_include_directories(polygons PRIVATE ${xmlrpcpp_INCLUDE_DIRS})
if(robot_xmlrpcpp_FOUND)
target_include_directories(polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
target_link_libraries(polygons
PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
PRIVATE ${xmlrpcpp_LIBRARIES})
PRIVATE ${robot_xmlrpcpp_LIBRARIES})
elseif(XmlRpcCpp_FOUND)
target_include_directories(polygons PRIVATE ${XmlRpcCpp_INCLUDE_DIRS})
target_link_libraries(polygons
PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
PRIVATE ${XmlRpcCpp_LIBRARIES})
else()
target_include_directories(polygons PRIVATE ${xmlrpcpp_INCLUDE_DIRS})
target_include_directories(polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
target_link_libraries(polygons
PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
PRIVATE ${xmlrpcpp_LIBRARIES})
PRIVATE ${robot_xmlrpcpp_LIBRARIES})
endif()
set_target_properties(polygons PROPERTIES

2
src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
View File

@ -38,7 +38,7 @@
#include <robot_nav_2d_msgs/Polygon2D.h>
#include <robot_nav_2d_msgs/ComplexPolygon2D.h>
#include <geometry_msgs/Pose2D.h>
#include <xmlrpcpp/XmlRpcValue.h>
#include <robot_xmlrpcpp/XmlRpcValue.h>
#include <vector>
#include <string>

1
src/Libraries/xmlrpcpp

@ -1 +0,0 @@
Subproject commit 5bdd606fffa7dcaa24448c112c4921778b24c9cd

9
src/Navigations/Packages/move_base/CMakeLists.txt
View File

@ -71,7 +71,6 @@ set(PACKAGES_DIR
costmap_2d
plugins # Link với plugins library để có StaticLayer typeinfo
yaml-cpp
xmlrpcpp
tf3_sensor_msgs
tf3_geometry_msgs
data_convert
@ -118,13 +117,7 @@ target_link_libraries(move_base_main
# Set RPATH for executable to find libraries in build directory first
# Use RPATH instead of RUNPATH for higher priority
set_target_properties(move_base_main PROPERTIES
BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Navigations/Packages/move_base:${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp:${CMAKE_BINARY_DIR}/src/Libraries/robot_nav_2d_utils"
INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Navigations/Packages/move_base:${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp:${CMAKE_BINARY_DIR}/src/Libraries/robot_nav_2d_utils"
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH TRUE
SKIP_BUILD_RPATH FALSE
)
# Force use of RPATH instead of RUNPATH
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--disable-new-dtags")

1
src/Navigations/Packages/move_base/src/move_base.cpp
View File

@ -8,7 +8,6 @@
#include <cmath>
#include <stdexcept>
#include <cstdlib>
#include <xmlrpcpp/XmlRpcValue.h>
#include <data_convert/data_convert.h>
#include <tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <boost/algorithm/string.hpp>