ros-navigation · crdelsey · Feb 5, 2019 · Jan 25, 2019 · Feb 5, 2019
diff --git a/nav2_amcl/CMakeLists.txt b/nav2_amcl/CMakeLists.txt
@@ -1,16 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_amcl)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror -fPIC)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
@@ -24,6 +16,8 @@ find_package(nav2_util REQUIRED)
 find_package(nav2_tasks REQUIRED)
 find_package(nav2_dynamic_params REQUIRED)
 
+nav2_package()
+
 include_directories(
   include
 )

diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml
@@ -23,6 +23,7 @@
   <license>LGPL</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
   <depend>rclcpp</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>geometry_msgs</depend>

diff --git a/nav2_bringup/CMakeLists.txt b/nav2_bringup/CMakeLists.txt
@@ -1,17 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_bringup)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(navigation2 REQUIRED)
+
+nav2_package()
+
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 ament_package()
diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <build_depend>navigation2</build_depend>
   <build_depend>launch_ros</build_depend>

diff --git a/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt
@@ -1,16 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_bt_navigator)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror -fPIC)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(nav2_tasks REQUIRED)
@@ -20,6 +12,8 @@ find_package(behaviortree_cpp REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(nav2_robot REQUIRED)
 
+nav2_package()
+
 include_directories(
   include
 )

diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <build_depend>rclcpp</build_depend>
   <build_depend>nav2_tasks</build_depend>

diff --git a/nav2_common/CMakeLists.txt b/nav2_common/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(nav2_common NONE)
+
+find_package(ament_cmake_core REQUIRED)
+
+ament_package(
+  CONFIG_EXTRAS "nav2_common-extras.cmake"
+)
+
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}
+)
diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake
@@ -0,0 +1,29 @@
+# Copyright 2019 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Standard Nav2 project setup
+#
+# @public
+#
+macro(nav2_package)
+  # Default to C++14
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic -Werror -fPIC)
+  endif()
+endmacro()
diff --git a/nav2_common/nav2_common-extras.cmake b/nav2_common/nav2_common-extras.cmake
@@ -0,0 +1,17 @@
+# Copyright 2019 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set(AMENT_BUILD_CONFIGURATION_KEYWORD_SEPARATOR ":")
+
+include("${nav2_common_DIR}/nav2_package.cmake")
diff --git a/nav2_common/package.xml b/nav2_common/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>nav2_common</name>
+  <version>0.1.5</version>
+  <description>Common support functionality used throughout the navigation 2 stack</description>
+  <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_core</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
@@ -1,17 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_costmap_2d)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  #add_compile_options(-Wall -Wextra -Wpedantic)
-  add_compile_options(-fPIC)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
@@ -35,6 +26,9 @@ find_package(nav2_msgs REQUIRED)
 remove_definitions(-DDISABLE_LIBUSB-1.0)
 find_package(Eigen3 REQUIRED)
 
+nav2_package()
+add_compile_options(-Wno-sign-compare -Wno-reorder -Wno-strict-aliasing -Wno-unused-parameter -Wno-unused-variable)
+
 include_directories(
   include
   ${ament_INCLUDE_DIRS}

diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
@@ -18,6 +18,7 @@
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <depend>geometry_msgs</depend>
   <depend>map_msgs</depend>

diff --git a/nav2_dwb_controller/costmap_queue/CMakeLists.txt b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
@@ -1,22 +1,14 @@
 cmake_minimum_required(VERSION 3.5)
 project(costmap_queue)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  # fPIC option is required so this library can be added to shared libraries.
-  add_compile_options(-fPIC)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
 
+nav2_package()
+
 include_directories(
   include
   ${Boost_INCLUDE_DIRS}

diff --git a/nav2_dwb_controller/costmap_queue/package.xml b/nav2_dwb_controller/costmap_queue/package.xml
@@ -9,6 +9,7 @@
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
   <depend>nav2_costmap_2d</depend>
   <depend>rclcpp</depend>
   <depend>boost</depend>

diff --git a/nav2_dwb_controller/dwb_controller/CMakeLists.txt b/nav2_dwb_controller/dwb_controller/CMakeLists.txt
@@ -1,16 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(dwb_controller)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
@@ -22,6 +14,8 @@ find_package(nav_2d_utils REQUIRED)
 find_package(nav_2d_msgs REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
 
+nav2_package()
+
 include_directories(
   include
   ${Boost_INCLUDE_DIRS}

diff --git a/nav2_dwb_controller/dwb_controller/package.xml b/nav2_dwb_controller/dwb_controller/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>

diff --git a/nav2_dwb_controller/dwb_core/CMakeLists.txt b/nav2_dwb_controller/dwb_core/CMakeLists.txt
@@ -1,16 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(dwb_core)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
@@ -24,6 +16,8 @@ find_package(nav_2d_utils REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 
+nav2_package()
+
 include_directories(
   include
 )

diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml
@@ -8,6 +8,7 @@
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <build_depend>rclcpp</build_depend>
   <build_depend>std_msgs</build_depend>

diff --git a/nav2_dwb_controller/dwb_critics/CMakeLists.txt b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
@@ -1,16 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(dwb_critics)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(angles REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
 find_package(costmap_queue REQUIRED)
@@ -23,6 +15,8 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
 
+nav2_package()
+
 include_directories(
   include
 )

diff --git a/nav2_dwb_controller/dwb_critics/package.xml b/nav2_dwb_controller/dwb_critics/package.xml
@@ -9,6 +9,7 @@
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <depend>angles</depend>
   <depend>nav2_costmap_2d</depend>

diff --git a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
@@ -1,16 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(dwb_plugins)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
 find_package(angles REQUIRED)
 find_package(dwb_core REQUIRED)
 find_package(nav_2d_msgs REQUIRED)
@@ -20,6 +12,8 @@ find_package(rclcpp REQUIRED)
 find_package(nav2_util REQUIRED)
 find_package(nav2_dynamic_params REQUIRED)
 
+nav2_package()
+
 set(dependencies
   angles
   dwb_core

diff --git a/nav2_dwb_controller/dwb_plugins/package.xml b/nav2_dwb_controller/dwb_plugins/package.xml
@@ -12,6 +12,7 @@
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
 
   <depend>angles</depend>
   <depend>dwb_core</depend>