Accessing waypoints inside a controller plugin about navigation2 HOT 3 CLOSED

cmake_minimum_required(VERSION 3.8)
project(nav2_controller_mpc_w_dyn_obstacles)

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(nav2_common REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(nav2_util REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(tf2 REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(var_predictor_interfaces REQUIRED)
find_package(nav2_mpc_interface REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(behaviortree_cpp REQUIRED)

nav2_package()

include_directories(
  include
)

set(dependencies
  rclcpp
  geometry_msgs
  nav2_costmap_2d
  pluginlib
  nav_msgs
  std_msgs
  nav2_util
  nav2_core
  tf2
  var_predictor_interfaces
  nav2_mpc_interface
  rclcpp_action
  rclcpp_lifecycle
  behaviortree_cpp
)

add_library(nav2_controller_mpc_w_dyn_obstacles SHARED
        src/nav2_controller_mpc_w_dyn_obstacles.cpp)

# prevent pluginlib from using boost
target_compile_definitions(nav2_controller_mpc_w_dyn_obstacles PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

ament_target_dependencies(nav2_controller_mpc_w_dyn_obstacles
  ${dependencies}
)

add_library(bt_waypoint_pub_bt_node SHARED src/bt_waypoint_pub.cpp)
ament_target_dependencies(bt_waypoint_pub_bt_node ${dependencies})
target_compile_definitions(bt_waypoint_pub_bt_node PRIVATE BT_PLUGIN_EXPORT)

install(TARGETS nav2_controller_mpc_w_dyn_obstacles bt_waypoint_pub_bt_node
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(DIRECTORY include/
  DESTINATION include/
)

ament_python_install_package(${PROJECT_NAME})
install(PROGRAMS
  nav2_controller_mpc_w_dyn_obstacles/vel_smoother_integrator.py
  nav2_controller_mpc_w_dyn_obstacles/mpc_calculation_node.py
  nav2_controller_mpc_w_dyn_obstacles/define_mpc.py
  DESTINATION lib/${PROJECT_NAME}
)

install(
  DIRECTORY launch behavior_trees
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  set(ament_cmake_copyright_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_export_libraries(nav2_controller_mpc_w_dyn_obstacles bt_waypoint_pub_bt_node)
ament_export_dependencies(${dependencies})

pluginlib_export_plugin_description_file(nav2_core nav2_controller_mpc_w_dyn_obstacles.xml)

ament_package()