### CMake Configuration for Navigation2 Costmap Filters Demo

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/nav2_costmap_filters_demo/CMakeLists.txt

This CMakeLists.txt file configures the 'nav2_costmap_filters_demo' ROS 2 package. It sets the minimum CMake version, defines the project name, specifies C++14 standard, finds required ament packages, and installs the 'launch', 'maps', and 'params' directories to the package's share destination, making them available for the ROS 2 environment.

```CMake
cmake_minimum_required(VERSION 3.5)
project(nav2_costmap_filters_demo)

set(CMAKE_CXX_STANDARD 14)

find_package(ament_cmake REQUIRED)

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

install(DIRECTORY maps
  DESTINATION share/${PROJECT_NAME}
)

install(DIRECTORY params
  DESTINATION share/${PROJECT_NAME}
)

ament_package()
```

--------------------------------

### Install ROS2 Plugin and Export Ament Package

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/nav2_straightline_planner/CMakeLists.txt

This section handles the installation of the compiled shared library, header files, and the `pluginlib` description XML file to their respective ROS2 installation directories. It also uses `ament_export_*` commands to make the package's include directories, libraries, and dependencies available to other ROS2 packages, completing the package's build and export process.

```CMake
pluginlib_export_plugin_description_file(nav2_core global_planner_plugin.xml)

install(TARGETS ${library_name}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
  DESTINATION include/
)

install(FILES global_planner_plugin.xml
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()


ament_export_include_directories(include)
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})
ament_package()
```

--------------------------------

### Build Configuration for ROS2 Navigation2 Pure Pursuit Controller

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/nav2_pure_pursuit_controller/CMakeLists.txt

This CMakeLists.txt file defines the build rules for the `nav2_pure_pursuit_controller` ROS2 package. It specifies minimum CMake version, project name, finds required Ament and Navigation2 packages, defines include directories and dependencies, compiles the `pure_pursuit_controller.cpp` source into a shared library, and handles installation paths and pluginlib export for `nav2_core`.

```CMake
cmake_minimum_required(VERSION 3.5)
project(nav2_pure_pursuit_controller)

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(pluginlib REQUIRED)
find_package(tf2 REQUIRED)

nav2_package()

include_directories(
  include
)

set(dependencies
  rclcpp
  geometry_msgs
  nav2_costmap_2d
  pluginlib
  nav_msgs
  nav2_util
  nav2_core
  tf2
)

add_library(nav2_pure_pursuit_controller SHARED
        src/pure_pursuit_controller.cpp)

# prevent pluginlib from using boost
target_compile_definitions(nav2_pure_pursuit_controller PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

ament_target_dependencies(nav2_pure_pursuit_controller
  ${dependencies}
)

install(TARGETS nav2_pure_pursuit_controller
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(DIRECTORY include/
  DESTINATION include/
)

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_pure_pursuit_controller)
ament_export_dependencies(${dependencies})

pluginlib_export_plugin_description_file(nav2_core nav2_pure_pursuit_controller.xml)

ament_package()
```

--------------------------------

### CMake Build Configuration for ROS2 Navigation Costmap Plugin

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/nav2_gradient_costmap_plugin/CMakeLists.txt

This CMakeLists.txt file configures the build process for a ROS2 navigation costmap plugin. It sets minimum CMake and C++/C standards, applies strict compiler warnings, finds necessary ROS2 and pluginlib dependencies, compiles the `gradient_layer.cpp` source into a shared library, and handles its installation and ament package integration for plugin discovery.

```CMake
cmake_minimum_required(VERSION 3.5)
project(nav2_gradient_costmap_plugin)

set(lib_name ${PROJECT_NAME}_core)

# === Environment ===

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# 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)
endif()

# === Dependencies ===

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(pluginlib REQUIRED)

set(dep_pkgs
    rclcpp
    nav2_costmap_2d
    pluginlib)

# === Build ===

add_library(${lib_name} SHARED
            src/gradient_layer.cpp)
include_directories(include)

# === Installation ===

install(TARGETS ${lib_name}
        DESTINATION lib)

# === Ament work ===

# pluginlib_export_plugin_description_file() installs gradient_layer.xml
# file into "share" directory and sets ament indexes for it.
# This allows the plugin to be discovered as a plugin of required type.
pluginlib_export_plugin_description_file(nav2_costmap_2d gradient_layer.xml)
ament_target_dependencies(${lib_name} ${dep_pkgs})
ament_package()
```

--------------------------------

### Complete CMake Configuration for ROS 2 Navigation2 Behavior Package

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/nav2_sms_behavior/CMakeLists.txt

This snippet provides the full CMakeLists.txt content for setting up a ROS 2 package. It includes directives for minimum CMake version, project naming, C++ standard, finding packages, defining include directories, specifying library dependencies, generating custom ROS 2 interfaces (actions), compiling a shared library, exporting plugin descriptions, and installing package artifacts.

```CMake
cmake_minimum_required(VERSION 3.5)
project(nav2_sms_behavior)

# Default to C++14
set(CMAKE_CXX_STANDARD 14)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_behaviors REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(action_msgs REQUIRED)
find_package(CURL REQUIRED)

include_directories(
  include
)

set(library_name ${PROJECT_NAME}_plugin)

set(dependencies
  rclcpp
  rclcpp_action
  rclcpp_lifecycle
  std_msgs
  visualization_msgs
  nav2_util
  nav2_msgs
  nav_msgs
  geometry_msgs
  builtin_interfaces
  tf2_ros
  nav2_costmap_2d
  nav2_core
  pluginlib
  nav2_behaviors
  CURL
)

rosidl_generate_interfaces(${PROJECT_NAME}
  "action/SendSms.action"
  DEPENDENCIES builtin_interfaces std_msgs
)

add_library(${library_name} SHARED
  src/send_sms.cpp
  src/twilio.cpp
)

target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

ament_target_dependencies(${library_name}
  ${dependencies}
)

rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(${library_name}  "${cpp_typesupport_target}")


pluginlib_export_plugin_description_file(nav2_core behavior_plugin.xml)

install(TARGETS ${library_name}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
  DESTINATION include/
)

install(FILES behavior_plugin.xml
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_dependencies(rosidl_default_runtime)
ament_export_include_directories(include)
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})
ament_package()
```

--------------------------------

### Configure ROS 2 Package with CMake

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/sam_bot_description/CMakeLists.txt

This CMakeLists.txt file configures a ROS 2 package named 'sam_bot_description'. It sets the minimum required CMake version, defines C and C++ standards (C99 and C++14 respectively), enables common compiler warnings for GCC/Clang, finds necessary ROS 2 dependencies like 'ament_cmake' and 'xacro', and specifies installation directories for package resources. It also includes conditional logic for setting up build testing and linting with 'ament_lint_auto'.

```CMake
cmake_minimum_required(VERSION 3.5)
project(sam_bot_description)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# 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)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(xacro REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

install(
  DIRECTORY src launch rviz config world
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
```

--------------------------------

### Define and Build ROS2 Shared Library in CMake

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/nav2_straightline_planner/CMakeLists.txt

This snippet defines the shared library for the straight-line planner plugin, specifying its source file and linking it against the previously found dependencies. It also adds a public compile definition to disable Boost functions for `pluginlib`, which is a common practice in ROS2 to avoid Boost dependencies.

```CMake
include_directories(
  include
)

set(library_name ${PROJECT_NAME}_plugin)

set(dependencies
  rclcpp
  rclcpp_action
  rclcpp_lifecycle
  std_msgs
  visualization_msgs
  nav2_util
  nav2_msgs
  nav_msgs
  geometry_msgs
  builtin_interfaces
  tf2_ros
  nav2_costmap_2d
  nav2_core
  pluginlib
)

add_library(${library_name} SHARED
  src/straight_line_planner.cpp
)

ament_target_dependencies(${library_name}
  ${dependencies}
)

target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
```

--------------------------------

### Find ROS2 Package Dependencies in CMake

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/nav2_straightline_planner/CMakeLists.txt

This section uses `find_package` to locate all required ROS2 and third-party dependencies for the `nav2_straightline_planner` package. These dependencies are crucial for building the planner, providing access to core ROS2 functionalities, navigation messages, and utility libraries like `rclcpp`, `nav2_util`, and `pluginlib`.

```CMake
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(nav2_core REQUIRED)
find_package(pluginlib REQUIRED)
```

--------------------------------

### Configure ROS2 Package CMake Standards

Source: https://github.com/ros-navigation/navigation2_tutorials/blob/rolling/nav2_straightline_planner/CMakeLists.txt

This snippet sets the minimum CMake version required, defines the project name, and specifies the C and C++ language standards for the ROS2 package. It ensures compatibility and modern language features are used during compilation, adhering to common ROS2 development practices.

```CMake
cmake_minimum_required(VERSION 3.5)
project(nav2_straightline_planner)

# Default to C99
set(CMAKE_C_STANDARD 99)


# Default to C++14
set(CMAKE_CXX_STANDARD 14)
```

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