Feat: fixed CMakeList for Waypoint Manager

vortexntnu · Feb 28, 2024 · 5e1bc53 · 5e1bc53
1 parent 4feb58d
commit 5e1bc53
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Showing 4 changed files with 12 additions and 4 deletions.
diff --git a/navigation/waypoint_manager/CMakeLists.txt b/navigation/waypoint_manager/CMakeLists.txt
@@ -5,13 +5,21 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+list(APPEND CMAKE_PREFIX_PATH "/ros2_ws/install")
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(vortex_msgs REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 
+
+#find vortex_msgs package 
+find_package(vortex_msgs REQUIRED)
+if (NOT vortex_msgs_FOUND)
+  message(FATAL_ERROR "vortex_msgs ppacket not found")
+endif()
+
 ament_python_install_package(scripts)
 
 install(DIRECTORY

diff --git a/navigation/waypoint_manager/launch/waypoint_manager.launch.py b/navigation/waypoint_manager/launch/waypoint_manager.launch.py
diff --git a/navigation/waypoint_manager/package.xml b/navigation/waypoint_manager/package.xml
@@ -13,7 +13,7 @@
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>rnav_msgs</exec_depend>
-  <exec_depend>votex_msgs</exec_depend>
+  <exec_depend>vortex_msgs</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/navigation/waypoint_manager/scripts/waypoint_manager.py b/navigation/waypoint_manager/scripts/waypoint_manager.py
@@ -19,12 +19,12 @@ class WaypointManager(Node):
     """
 
     def __init__(self):
-        super().init("WaypointManager")
+        super().__init("WaypointManager")
 
         self.waypoint_list = []
 
         ## Action client
-        self.action_client = ActionClient(LosPathFollowing, 'guidance/los_action_server')
+        self.action_client = ActionClient(LosPathFollowing, 'LosPathFollowing')
         while not self.action_client.wait_for_service(timeout_sec=1.0):
             self.get_logger().info('Action server not available, waiting again...')