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Add Eigen in nav2_map_server #5695

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Merged
SteveMacenski merged 1 commit into from
Nov 19, 2025
Merged

Add Eigen in nav2_map_server #5695

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1 change: 0 additions & 1 deletion nav2_costmap_2d/include/nav2_costmap_2d/plugin_container_layer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
#ifndef NAV2_COSTMAP_2D__PLUGIN_CONTAINER_LAYER_HPP_
#define NAV2_COSTMAP_2D__PLUGIN_CONTAINER_LAYER_HPP_

#include <Eigen/Dense>
#include <cmath>
#include <memory>
#include <string>
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4 changes: 3 additions & 1 deletion nav2_map_server/CMakeLists.txt
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Expand Up @@ -22,6 +22,7 @@ find_package(tf2_ros REQUIRED)
find_package(nav2_ros_common REQUIRED)
find_package(yaml_cpp_vendor REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(Eigen3 REQUIRED)

pkg_search_module(UUID REQUIRED uuid)

Expand Down Expand Up @@ -62,6 +63,7 @@ target_link_libraries(${map_io_library_name} PRIVATE
${GRAPHICSMAGICKCPP_LIBRARIES}
tf2::tf2
yaml-cpp::yaml-cpp
Eigen3::Eigen
)

add_library(${library_name} SHARED
Expand Down Expand Up @@ -231,7 +233,7 @@ ament_export_libraries(
${map_io_library_name}
${vo_library_name}
)
ament_export_dependencies(nav_msgs nav2_msgs nav2_util rclcpp rclcpp_lifecycle nav2_ros_common)
ament_export_dependencies(nav_msgs nav2_msgs nav2_util rclcpp rclcpp_lifecycle nav2_ros_common Eigen3)
ament_export_targets(${library_name})

ament_package()
1 change: 1 addition & 0 deletions nav2_map_server/package.xml
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Expand Up @@ -31,6 +31,7 @@
<depend>lifecycle_msgs</depend>
<depend>nav2_ros_common</depend>
<depend>uuid</depend>
<depend>eigen</depend>

<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
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1 change: 0 additions & 1 deletion nav2_mppi_controller/package.xml
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Expand Up @@ -29,7 +29,6 @@
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>visualization_msgs</depend>
<depend>eigen3_cmake_module</depend>
<depend>eigen</depend>
<depend>nav2_ros_common</depend>

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1 change: 0 additions & 1 deletion nav2_smoother/package.xml
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Expand Up @@ -24,7 +24,6 @@
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>nav2_ros_common</depend>
<depend>eigen3_cmake_module</depend>
<depend>eigen</depend>

<test_depend>ament_cmake_gtest</test_depend>
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