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estheragestherag
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Merge pull request #1 from estherag/rolling
Add octomap maps builder
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‎.github/Doxyfile‎

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‎.github/thirdparty.repos‎

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repositories:
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ThirdParty/EasyNavigation:
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type: git
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url: https://github.com/EasyNavigation/EasyNavigation.git
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version: rolling

‎.github/workflows/doxygen-doc.yml‎

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name: Doxygen Deployment
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on:
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push:
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branches:
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- rolling
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schedule:
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- cron: '0 0 * * 6'
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workflow_dispatch:
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jobs:
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doxygen_generation:
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runs-on: ubuntu-latest
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permissions:
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contents: write
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Generate Doxygen for EasyNav Costmap Stack
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uses: mattnotmitt/doxygen-action@edge
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with:
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doxyfile-path: ".github/Doxyfile"
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- name: Doxygen Deployment
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uses: peaceiris/actions-gh-pages@v4
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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publish_branch: gh-pages
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publish_dir: docs/html

‎.github/workflows/rolling.yaml‎

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name: rolling
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on:
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pull_request:
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branches:
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- rolling
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push:
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branches:
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- rolling
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schedule:
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- cron: '0 0 * * 6'
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jobs:
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build-and-test:
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: [ubuntu-24.04]
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fail-fast: false
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steps:
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- name: Repo checkout
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uses: actions/checkout@v4
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- name: Setup ROS 2
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uses: ros-tooling/setup-ros@0.7.13
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with:
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required-ros-distributions: rolling
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- name: build and test
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uses: ros-tooling/action-ros-ci@0.4.3
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with:
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package-name: easynav_octomap_maps_builder
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target-ros2-distro: rolling
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vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
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colcon-defaults: |
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{
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"test": {
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"parallel-workers" : 1
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}
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}
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colcon-mixin-name: coverage-gcc
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- name: Codecov
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uses: codecov/codecov-action@v5.4.2
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with:
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files: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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# yml: ./codecov.yml
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fail_ci_if_error: false

‎LICENSE‎

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‎README.md‎

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# easynav_octomap_stack
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This stack is part of the Easy Navigation (EasyNav) project developed by the Intelligent Robotics Lab. Ir building elevation grid maps
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from point cloud data. The node subscribes to a sensor topic, processes the incoming point cloud data, downsamples it, and
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publishes a grid_map_msgs::msg::GridMap message.
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It is composed of the **octomap_maps_builder** package and the **octomap_maps_manager** package (currently under construction).
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The `OctomapMapsBuilderNode` subscribes to sensor point cloud topics, processes and filters the data, and incrementally builds an Octomap representation of the environment. It publishes the resulting maps as ROS messages in both binary and full map formats.
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## Installation
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Clone the repository into your ROS 2 workspace:
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```bash
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cd ~/ros2_ws/src
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git clone https://github.com/EasyNavigation/easynav_octomap_stack.git
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cd ..
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rosdep install --from-paths src --ignore-src -r -y
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colcon build --packages-select easynav_octomap_maps_builder
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```
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## Usage
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Source your workspace:
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```bash
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source ~/ros2_ws/install/setup.bash
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```
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Run the lifecycle node:
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```bash
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ros2 run easynav_octomap_maps_builder octomap_maps_builder_node
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```
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## Parameters
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| Parameter | Type | Default | Description |
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|-------------------------|--------|--------------|------------------------------------------------|
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| `sensor_topic` | string | `"map"` | Topic name for incoming sensor point clouds. |
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| `downsample_resolution` | double | `1.0` | Downsampling resolution for input point clouds.|
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| `perception_default_frame` | string | `"map"` | Default target frame for perception fusion. |
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| `sensor_model.max_range`| double | `90.0` | Maximum sensor range for raycasting. |
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| `resolution` | double | `1.0` | Resolution of the OctoMap octree. |
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| `base_frame_id` | string | `"base_link"`| Robot base frame ID. |
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| `occupancy_min_z` | double | `0.1` | Minimum z height for occupancy filtering. |
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| `occupancy_max_z` | double | `10.0` | Maximum z height for occupancy filtering. |
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| `publish_binary_map` | bool | `true` | Enable publishing of binary octomap message. |
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| `publish_full_map` | bool | `true` | Enable publishing of full octomap message. |
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| `world_frame_id` | string | `"map"` | Global coordinate frame for map integration. |

‎easynav_octomap_maps_builder/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.20)
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project(easynav_octomap_maps_builder)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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set(CMAKE_CXX_STANDARD 23)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# Dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(easynav_common REQUIRED)
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find_package(octomap_msgs REQUIRED)
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find_package(octomap_ros REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(pcl_ros REQUIRED)
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find_package(visualization_msgs REQUIRED)
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find_package(PCL REQUIRED)
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include_directories(${PCL_INCLUDE_DIRS})
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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find_package(OCTOMAP REQUIRED)
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set(dependencies
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rclcpp
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rclcpp_lifecycle
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sensor_msgs
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tf2
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tf2_ros
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octomap_ros
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octomap_msgs
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pcl_conversions
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pcl_ros
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easynav_common
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)
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include_directories(include)
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# Library
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add_library(${PROJECT_NAME} SHARED
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src/easynav_octomap_maps_builder/OctomapMapsBuilderNode.cpp
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)
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ament_target_dependencies(${PROJECT_NAME} ${dependencies})
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target_link_libraries(${PROJECT_NAME}
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${OCTOMAP_LIBRARIES}
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${PCL_LIBRARIES}
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)
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# Executable
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add_executable(octomap_maps_builder_main src/octomap_maps_builder_main.cpp)
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ament_target_dependencies(octomap_maps_builder_main ${dependencies})
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target_link_libraries(octomap_maps_builder_main ${PROJECT_NAME})
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# Install headers
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install(DIRECTORY include/
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DESTINATION include/
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)
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# Install targets
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install(TARGETS
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${PROJECT_NAME}
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octomap_maps_builder_main
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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# Tests
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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add_subdirectory(tests)
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endif()
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# Export
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_dependencies(${dependencies})
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ament_package()

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