feat: add lms-nav2-gazebo-simulator module

2026-07-28 10:35:22 +09:00
commit 0db91a16b8
160 changed files with 275895 additions and 0 deletions
@@ -0,0 +1,96 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(turtlebot3_gazebo)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+if(MSVC)
+  add_compile_definitions(_USE_MATH_DEFINES)
+endif()
+
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+################################################################################
+find_package(ament_cmake REQUIRED)
+find_package(gazebo REQUIRED)
+find_package(gazebo_ros_pkgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+
+################################################################################
+# Build
+################################################################################
+link_directories(
+  ${GAZEBO_LIBRARY_DIRS}
+)
+
+include_directories(
+  include
+  ${GAZEBO_INCLUDE_DIRS}
+)
+
+set(dependencies
+  "geometry_msgs"
+  "nav_msgs"
+  "rclcpp"
+  "sensor_msgs"
+  "tf2"
+)
+
+set(EXEC_NAME "turtlebot3_drive")
+
+add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
+ament_target_dependencies(${EXEC_NAME} ${dependencies})
+
+add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
+target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
+
+add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
+target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
+
+add_library(obstacle1 SHARED src/obstacle1.cpp)
+target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
+
+add_library(obstacle2 SHARED src/obstacle2.cpp)
+target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
+
+add_library(obstacles SHARED src/obstacles.cpp)
+target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
+
+################################################################################
+# Install
+################################################################################
+install(TARGETS ${EXEC_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch models rviz worlds
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+################################################################################
+# Macro for ament package
+################################################################################
+ament_export_include_directories(include)
+ament_export_dependencies(gazebo_ros_pkgs)
+ament_export_dependencies(geometry_msgs)
+ament_export_dependencies(nav_msgs)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(sensor_msgs)
+ament_export_dependencies(tf2)
+ament_package()