fix build mppi (#3927)

Signed-off-by: kevin <kevin@floatic.io> Co-authored-by: kevin <kevin@floatic.io>

Author: ladianchad

nav2_mppi_controller/CMakeLists.txt

@@ -15,6 +15,10 @@ find_package(ament_cmake REQUIRED)
 find_package(xtensor REQUIRED)
 find_package(xsimd REQUIRED)
 
+include_directories(
+ include
+)
+
 set(dependencies_pkgs
  rclcpp
  nav2_common
@@ -90,7 +94,7 @@ set(libraries mppi_controller mppi_critics)
 
 foreach(lib IN LISTS libraries)
  target_compile_options(${lib} PUBLIC -fconcepts)
- target_include_directories(${lib} PUBLIC include ${xsimd_INCLUDE_DIRS}) # ${OpenMP_INCLUDE_DIRS}
+ target_include_directories(${lib} PUBLIC ${xsimd_INCLUDE_DIRS}) # ${OpenMP_INCLUDE_DIRS}
  target_link_libraries(${lib} xtensor xtensor::optimize xtensor::use_xsimd)
  ament_target_dependencies(${lib} ${dependencies_pkgs})
 endforeach()

nav2_mppi_controller/test/noise_generator_test.cpp

@@ -17,7 +17,9 @@
 
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "nav2_mppi_controller/tools/noise_generator.hpp"
+#include "nav2_mppi_controller/tools/parameters_handler.hpp"
 #include "nav2_mppi_controller/models/optimizer_settings.hpp"
 #include "nav2_mppi_controller/models/state.hpp"
 #include "nav2_mppi_controller/models/control_sequence.hpp"