forked from Archive/PX4-Autopilot
Added support for ros-sitl.
This commit is contained in:
James Goppert
parent
acc9b29b56
commit
3c6d101792
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@ -138,6 +138,19 @@ set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
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#
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# must come before project to set toolchain
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string(REPLACE "_" ";" config_args ${CONFIG})
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list(GET config_args 0 OS)
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list(GET config_args 1 BOARD)
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list(GET config_args 2 LABEL)
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set(target_name "${OS}-${BOARD}-${LABEL}")
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message(STATUS "${target_name}")
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# switch to ros CMake file if building ros
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if (${OS} STREQUAL "ros")
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include("cmake/ros-CMakeLists.txt")
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else() # otherwise use the rest of this file
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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set(config_module "configs/${CONFIG}")
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include(${config_module})
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@ -179,14 +192,6 @@ set(version_patch 1)
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set(version "${version_major}.${version_minor}.${version_patch}")
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set(package-contact "px4users@googlegroups.com")
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string(REPLACE "_" ";" config_args ${CONFIG})
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list(GET config_args 0 OS)
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list(GET config_args 1 BOARD)
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list(GET config_args 2 LABEL)
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set(target_name "${OS}-${BOARD}-${LABEL}")
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message(STATUS "${target_name}")
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#=============================================================================
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# programs
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#
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@ -298,4 +303,6 @@ set(CPACK_GENERATOR "ZIP")
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set(CPACK_SOURCE_GENERATOR "ZIP")
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include(CPack)
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endif() # ros alternative endif
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# vim: set noet fenc=utf-8 ff=unix ft=cmake :
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5
Makefile
5
Makefile
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@ -87,11 +87,16 @@ nuttx_sim_simple:
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posix_sitl_simple:
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$(call cmake-build,$@)
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ros_sitl_simple:
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$(call cmake-build,$@)
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qurt_eagle_travis:
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$(call cmake-build,$@)
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posix: posix_sitl_simple
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ros: ros_sitl_simple
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run_sitl_quad: posix
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Tools/sitl_run.sh posix-configs/SITL/init/rcS
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@ -0,0 +1,333 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(px4)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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add_definitions(-D__PX4_ROS)
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add_definitions(-D__EXPORT=)
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add_definitions(-DMAVLINK_DIALECT=common)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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geometry_msgs
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message_generation
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cmake_modules
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gazebo_msgs
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sensor_msgs
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mav_msgs
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libmavconn
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tf
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)
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find_package(Eigen REQUIRED)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependencies might have been
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## pulled in transitively but can be declared for certainty nonetheless:
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## * add a build_depend tag for "message_generation"
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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rc_channels.msg
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vehicle_attitude.msg
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vehicle_attitude_setpoint.msg
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manual_control_setpoint.msg
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actuator_controls.msg
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actuator_controls_0.msg
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actuator_controls_virtual_mc.msg
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vehicle_rates_setpoint.msg
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mc_virtual_rates_setpoint.msg
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vehicle_attitude.msg
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vehicle_control_mode.msg
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actuator_armed.msg
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parameter_update.msg
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vehicle_status.msg
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vehicle_local_position.msg
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position_setpoint.msg
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position_setpoint_triplet.msg
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vehicle_local_position_setpoint.msg
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vehicle_global_velocity_setpoint.msg
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offboard_control_mode.msg
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vehicle_force_setpoint.msg
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distance_sensor.msg
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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gazebo_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS src/include
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LIBRARIES px4
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CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
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DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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${catkin_INCLUDE_DIRS}
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${CMAKE_SOURCE_DIR}/src/platforms
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${CMAKE_SOURCE_DIR}/src/platforms/ros/px4_messages
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${CMAKE_SOURCE_DIR}/src/include
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${CMAKE_SOURCE_DIR}/src/modules
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${CMAKE_BINARY_DIR}/src/modules
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${CMAKE_SOURCE_DIR}/src/
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${CMAKE_SOURCE_DIR}/src/lib
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${EIGEN_INCLUDE_DIRS}
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${CMAKE_SOURCE_DIR}/integrationtests
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)
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## generate multiplatform wrapper headers
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## note that the message header files are generated as in any ROS project with generate_messages()
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set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
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set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
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set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
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set(MULTIPLATFORM_PREFIX px4_)
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add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
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-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
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-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
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## Declare a cpp library
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add_library(px4
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src/platforms/ros/px4_ros_impl.cpp
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src/platforms/ros/perf_counter.cpp
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src/platforms/ros/geo.cpp
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src/lib/mathlib/math/Limits.cpp
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src/modules/systemlib/circuit_breaker.cpp
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)
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add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
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target_link_libraries(px4
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${catkin_LIBRARIES}
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)
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## Declare a test publisher
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add_executable(publisher
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src/examples/publisher/publisher_main.cpp
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src/examples/publisher/publisher_example.cpp)
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add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
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target_link_libraries(publisher
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${catkin_LIBRARIES}
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px4
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)
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## Declare a test subscriber
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add_executable(subscriber
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src/examples/subscriber/subscriber_main.cpp
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src/examples/subscriber/subscriber_example.cpp)
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add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
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target_link_libraries(subscriber
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${catkin_LIBRARIES}
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px4
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)
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## MC Attitude Control
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add_executable(mc_att_control
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src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
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src/modules/mc_att_control_multiplatform/mc_att_control.cpp
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src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
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add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(mc_att_control
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${catkin_LIBRARIES}
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px4
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)
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## MC Position Control
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add_executable(mc_pos_control
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src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
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src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
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add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(mc_pos_control
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${catkin_LIBRARIES}
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px4
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)
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## Attitude Estimator dummy
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add_executable(attitude_estimator
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src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
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add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(attitude_estimator
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${catkin_LIBRARIES}
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px4
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)
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## Position Estimator dummy
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add_executable(position_estimator
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src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
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add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(position_estimator
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${catkin_LIBRARIES}
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px4
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)
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## Manual input
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add_executable(manual_input
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src/platforms/ros/nodes/manual_input/manual_input.cpp)
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add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(manual_input
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${catkin_LIBRARIES}
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px4
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)
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## Multicopter Mixer dummy
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add_executable(mc_mixer
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src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
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add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(mc_mixer
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${catkin_LIBRARIES}
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px4
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)
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## Commander dummy
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add_executable(commander
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src/platforms/ros/nodes/commander/commander.cpp)
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add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(commander
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${catkin_LIBRARIES}
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px4
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)
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## Mavlink dummy
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add_executable(mavlink
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src/platforms/ros/nodes/mavlink/mavlink.cpp)
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add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(mavlink
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${catkin_LIBRARIES}
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px4
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)
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## Offboard Position Setpoint Demo
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add_executable(demo_offboard_position_setpoints
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src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
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add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(demo_offboard_position_setpoints
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${catkin_LIBRARIES}
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px4
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)
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## Offboard Attitude Setpoint Demo
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add_executable(demo_offboard_attitude_setpoints
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src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
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add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(demo_offboard_attitude_setpoints
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${catkin_LIBRARIES}
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px4
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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add_rostest(integrationtests/demo_tests/direct_tests.launch)
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add_rostest(integrationtests/demo_tests/mavros_tests.launch)
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endif()
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