forked from Archive/PX4-Autopilot
223 lines
6.5 KiB
CMake
223 lines
6.5 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
|
|
project(px4)
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
|
|
|
|
## Find catkin macros and libraries
|
|
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
|
## is used, also find other catkin packages
|
|
find_package(catkin REQUIRED COMPONENTS
|
|
roscpp
|
|
rospy
|
|
std_msgs
|
|
message_generation
|
|
cmake_modules
|
|
)
|
|
find_package(Eigen REQUIRED)
|
|
|
|
## System dependencies are found with CMake's conventions
|
|
# find_package(Boost REQUIRED COMPONENTS system)
|
|
|
|
|
|
## Uncomment this if the package has a setup.py. This macro ensures
|
|
## modules and global scripts declared therein get installed
|
|
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
|
# catkin_python_setup()
|
|
|
|
################################################
|
|
## Declare ROS messages, services and actions ##
|
|
################################################
|
|
|
|
## To declare and build messages, services or actions from within this
|
|
## package, follow these steps:
|
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
|
## * In the file package.xml:
|
|
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
|
|
## * If MSG_DEP_SET isn't empty the following dependencies might have been
|
|
## pulled in transitively but can be declared for certainty nonetheless:
|
|
## * add a build_depend tag for "message_generation"
|
|
## * add a run_depend tag for "message_runtime"
|
|
## * In this file (CMakeLists.txt):
|
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
|
## catkin_package(CATKIN_DEPENDS ...)
|
|
## * uncomment the add_*_files sections below as needed
|
|
## and list every .msg/.srv/.action file to be processed
|
|
## * uncomment the generate_messages entry below
|
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
|
|
|
## Generate messages in the 'msg' folder
|
|
add_message_files(
|
|
FILES
|
|
rc_channels.msg
|
|
vehicle_attitude.msg
|
|
vehicle_attitude_setpoint.msg
|
|
manual_control_setpoint.msg
|
|
actuator_controls.msg
|
|
actuator_controls_0.msg
|
|
actuator_controls_virtual_mc.msg
|
|
vehicle_rates_setpoint.msg
|
|
vehicle_attitude.msg
|
|
vehicle_control_mode.msg
|
|
actuator_armed.msg
|
|
parameter_update.msg
|
|
vehicle_status.msg
|
|
)
|
|
|
|
## Generate services in the 'srv' folder
|
|
# add_service_files(
|
|
# FILES
|
|
# Service1.srv
|
|
# Service2.srv
|
|
# )
|
|
|
|
## Generate actions in the 'action' folder
|
|
# add_action_files(
|
|
# FILES
|
|
# Action1.action
|
|
# Action2.action
|
|
# )
|
|
|
|
## Generate added messages and services with any dependencies listed here
|
|
generate_messages(
|
|
DEPENDENCIES
|
|
std_msgs
|
|
)
|
|
|
|
###################################
|
|
## catkin specific configuration ##
|
|
###################################
|
|
## The catkin_package macro generates cmake config files for your package
|
|
## Declare things to be passed to dependent projects
|
|
## INCLUDE_DIRS: uncomment this if you package contains header files
|
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
|
catkin_package(
|
|
INCLUDE_DIRS src/include
|
|
LIBRARIES px4
|
|
CATKIN_DEPENDS roscpp rospy std_msgs
|
|
DEPENDS system_lib
|
|
CATKIN_DEPENDS message_runtime
|
|
)
|
|
|
|
###########
|
|
## Build ##
|
|
###########
|
|
|
|
## Specify additional locations of header files
|
|
## Your package locations should be listed before other locations
|
|
include_directories(
|
|
${catkin_INCLUDE_DIRS}
|
|
src/platforms
|
|
src/include
|
|
src/modules
|
|
src/
|
|
src/lib
|
|
${EIGEN_INCLUDE_DIRS}
|
|
)
|
|
|
|
## Declare a cpp library
|
|
add_library(px4
|
|
src/platforms/ros/px4_ros_impl.cpp
|
|
src/platforms/ros/perf_counter.cpp
|
|
src/platforms/ros/geo.cpp
|
|
src/lib/mathlib/math/Limits.cpp
|
|
src/modules/systemlib/circuit_breaker.cpp
|
|
)
|
|
|
|
target_link_libraries(px4
|
|
${catkin_LIBRARIES}
|
|
)
|
|
|
|
## Declare a test publisher
|
|
add_executable(publisher
|
|
src/examples/publisher/publisher_main.cpp
|
|
src/examples/publisher/publisher_example.cpp)
|
|
|
|
## Add cmake target dependencies of the executable/library
|
|
## as an example, message headers may need to be generated before nodes
|
|
add_dependencies(publisher px4_generate_messages_cpp)
|
|
|
|
## Specify libraries to link a library or executable target against
|
|
target_link_libraries(publisher
|
|
${catkin_LIBRARIES}
|
|
px4
|
|
)
|
|
|
|
## Declare a test subscriber
|
|
add_executable(subscriber
|
|
src/examples/subscriber/subscriber_main.cpp
|
|
src/examples/subscriber/subscriber_example.cpp)
|
|
|
|
## Add cmake target dependencies of the executable/library
|
|
## as an example, message headers may need to be generated before nodes
|
|
add_dependencies(subscriber px4_generate_messages_cpp)
|
|
|
|
## Specify libraries to link a library or executable target against
|
|
target_link_libraries(subscriber
|
|
${catkin_LIBRARIES}
|
|
px4
|
|
)
|
|
|
|
## MC Attitude Control
|
|
add_executable(mc_att_control
|
|
src/modules/mc_att_control/mc_att_control_main.cpp
|
|
src/modules/mc_att_control/mc_att_control.cpp
|
|
src/modules/mc_att_control/mc_att_control_base.cpp)
|
|
add_dependencies(mc_att_control px4_generate_messages_cpp)
|
|
target_link_libraries(mc_att_control
|
|
${catkin_LIBRARIES}
|
|
px4
|
|
)
|
|
|
|
|
|
#############
|
|
## Install ##
|
|
#############
|
|
|
|
# all install targets should use catkin DESTINATION variables
|
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
|
|
|
## Mark executable scripts (Python etc.) for installation
|
|
## in contrast to setup.py, you can choose the destination
|
|
# install(PROGRAMS
|
|
# scripts/my_python_script
|
|
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
# )
|
|
|
|
## Mark executables and/or libraries for installation
|
|
install(TARGETS px4 publisher subscriber
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
## Mark cpp header files for installation
|
|
# install(DIRECTORY include/${PROJECT_NAME}/
|
|
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
|
# FILES_MATCHING PATTERN "*.h"
|
|
# PATTERN ".svn" EXCLUDE
|
|
# )
|
|
|
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
|
# install(FILES
|
|
# # myfile1
|
|
# # myfile2
|
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
# )
|
|
|
|
#############
|
|
## Testing ##
|
|
#############
|
|
|
|
## Add gtest based cpp test target and link libraries
|
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
|
|
# if(TARGET ${PROJECT_NAME}-test)
|
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
|
# endif()
|
|
|
|
## Add folders to be run by python nosetests
|
|
# catkin_add_nosetests(test)
|