CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(dwa_planner)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_auto REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(ament_cmake_auto REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(rclcpp_components REQUIRED)

ament_auto_find_build_dependencies()

include_directories(include
                    ${EIGEN3_INCLUDE_DIRS}
)

link_directories(
  ${EIGEN3_INCLUDE_DIRS})

ament_auto_add_library(dwa_planner SHARED src/dwa_planner_component.cpp)
rclcpp_components_register_nodes(dwa_planner "dwa_planner::DWAPlanner")

ament_auto_add_executable(dwaplanner
  src/dwa_planner_component.cpp
  src/dwa_planner_node.cpp
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_auto_package()