WRONG BRANCH

nexus_motion_planner/CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 find_package(warehouse_ros REQUIRED)
+find_package(warehouse_ros_sqlite REQUIRED)
 
 include_directories(include)
 
@@ -28,6 +29,7 @@ set (motion_planner_server_dependencies
   rclcpp_action
   rclcpp_lifecycle
   warehouse_ros
+  warehouse_ros_sqlite
   tf2
   tf2_ros
 )
@@ -41,12 +43,17 @@ set (test_request_dependencies
 )
 
 #===============================================================================
-set(LIBRARY_NAME motion_planner_server_core)
+set(MOTION_PLAN_CACHE_LIBRARY_NAME motion_planner_server_core)
 set(EXECUTABLE_NAME motion_planner_server)
 
+# Motion plan cache library
+add_library(${MOTION_PLAN_CACHE_LIBRARY_NAME} src/motion_plan_cache.cpp)
+ament_target_dependencies(${MOTION_PLAN_CACHE_LIBRARY_NAME} ${motion_planner_server_dependencies})
+
 # Server executable
 add_executable(${EXECUTABLE_NAME} src/main.cpp src/motion_planner_server.cpp)
 ament_target_dependencies(${EXECUTABLE_NAME} ${motion_planner_server_dependencies})
+target_link_libraries(${EXECUTABLE_NAME} ${MOTION_PLAN_CACHE_LIBRARY_NAME})
 
 # Test executable
 add_executable(test_request src/test_request.cpp)

nexus_motion_planner/src/main.cpp

@@ -27,7 +27,7 @@ int main(int argc, char** argv)
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
   rclcpp::init(argc, argv);
-  auto node = std::make_shared<MotionPlannerServer>();
+  auto node = std::make_shared<nexus::motion_planner::MotionPlannerServer>();
   rclcpp::spin(node->get_node_base_interface());
   rclcpp::shutdown();
   return 0;