forked from cesar.alejandro/oscillation_ctrl
554 lines
18 KiB
CMake
554 lines
18 KiB
CMake
|
cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
|
||
|
|
cmake_policy(SET CMP0042 NEW)
|
||
|
|
cmake_policy(SET CMP0048 NEW)
|
||
|
|
cmake_policy(SET CMP0054 NEW)
|
||
|
|
|
||
|
|
if (NOT CMAKE_INSTALL_PREFIX)
|
||
|
|
set(CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "install prefix" FORCE)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
message(STATUS "install-prefix: ${CMAKE_INSTALL_PREFIX}")
|
||
|
|
|
||
|
|
# CMake build type (Debug Release RelWithDebInfo MinSizeRel)
|
||
|
|
if(NOT CMAKE_BUILD_TYPE)
|
||
|
|
set(CMAKE_BUILD_TYPE "RelWithDebInfo")
|
||
|
|
set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Build type" FORCE)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
|
||
|
|
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
|
||
|
|
|
||
|
|
project(mavlink_sitl_gazebo VERSION 1.0.0)
|
||
|
|
|
||
|
|
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
|
||
|
|
|
||
|
|
# Set c++11 or higher
|
||
|
|
include(EnableC++XX)
|
||
|
|
# Set c11
|
||
|
|
set(CMAKE_C_STANDARD 11)
|
||
|
|
set(CMAKE_C_STANDARD_REQUIRED ON)
|
||
|
|
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||
|
|
|
||
|
|
include(ccache)
|
||
|
|
include(GNUInstallDirs)
|
||
|
|
|
||
|
|
#######################
|
||
|
|
## Find Dependencies ##
|
||
|
|
#######################
|
||
|
|
|
||
|
|
option(BUILD_GSTREAMER_PLUGIN "enable gstreamer plugin" ON)
|
||
|
|
option(BUILD_ROS_PLUGINS "Enable building ROS dependent plugins" OFF)
|
||
|
|
option(GENERATE_ROS_MODELS "Generate model sdf for ROS environment" OFF)
|
||
|
|
|
||
|
|
option(SEND_VISION_ESTIMATION_DATA "Send Mavlink VISION_POSITION_ESTIMATE msgs" OFF)
|
||
|
|
option(SEND_ODOMETRY_DATA "Send Mavlink ODOMETRY msgs" OFF)
|
||
|
|
|
||
|
|
## System dependencies are found with CMake's conventions
|
||
|
|
find_package(Boost 1.58 REQUIRED COMPONENTS system thread filesystem)
|
||
|
|
find_package(gazebo REQUIRED)
|
||
|
|
find_package(PkgConfig REQUIRED)
|
||
|
|
pkg_search_module(GLIB REQUIRED glib-2.0)
|
||
|
|
# Note: If using catkin, Python 2 is found since it points
|
||
|
|
# to the Python libs installed with the ROS distro
|
||
|
|
if (NOT CATKIN_DEVEL_PREFIX)
|
||
|
|
find_package(PythonInterp 3 REQUIRED)
|
||
|
|
else()
|
||
|
|
find_package(roscpp REQUIRED)
|
||
|
|
message(STATUS "${roscpp_version}")
|
||
|
|
if(${roscpp_VERSION} VERSION_LESS "1.15.0")
|
||
|
|
find_package(PythonInterp REQUIRED)
|
||
|
|
else()
|
||
|
|
find_package(PythonInterp 3 REQUIRED)
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
find_package(OpenCV REQUIRED)
|
||
|
|
find_package(TinyXML REQUIRED)
|
||
|
|
if (BUILD_GSTREAMER_PLUGIN)
|
||
|
|
set(GStreamer_FIND_VERSION "1.0")
|
||
|
|
find_package(GStreamer REQUIRED)
|
||
|
|
# GStreamer requires ICU on Mac OS
|
||
|
|
if (APPLE)
|
||
|
|
set(ENV{PKG_CONFIG_PATH} "/usr/local/opt/icu4c/lib/pkgconfig")
|
||
|
|
pkg_search_module(ICU_UC icu-uc)
|
||
|
|
endif()
|
||
|
|
if (GSTREAMER_FOUND)
|
||
|
|
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
|
||
|
|
find_package (Qt4)
|
||
|
|
include (${QT_USE_FILE})
|
||
|
|
else()
|
||
|
|
# In order to find Qt5 in macOS, the Qt5 path needs to be added to the CMake prefix path.
|
||
|
|
if(APPLE)
|
||
|
|
execute_process(COMMAND brew --prefix qt5
|
||
|
|
ERROR_QUIET
|
||
|
|
OUTPUT_VARIABLE QT5_PREFIX_PATH
|
||
|
|
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||
|
|
)
|
||
|
|
list(APPEND CMAKE_PREFIX_PATH "${QT5_PREFIX_PATH}/lib/cmake")
|
||
|
|
endif()
|
||
|
|
find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
|
||
|
|
pkg_check_modules(OGRE OGRE)
|
||
|
|
|
||
|
|
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
|
||
|
|
include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS})
|
||
|
|
else()
|
||
|
|
include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS} ${Qt5Core_INCLUDE_DIRS})
|
||
|
|
endif()
|
||
|
|
|
||
|
|
link_directories(${GAZEBO_LIBRARY_DIRS})
|
||
|
|
|
||
|
|
add_subdirectory( external/OpticalFlow OpticalFlow )
|
||
|
|
set( OpticalFlow_LIBS "OpticalFlow" )
|
||
|
|
|
||
|
|
# for ROS subscribers and publishers
|
||
|
|
if (BUILD_ROS_PLUGINS)
|
||
|
|
find_package(geometry_msgs REQUIRED)
|
||
|
|
find_package(roscpp REQUIRED)
|
||
|
|
find_package(sensor_msgs REQUIRED)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
# find MAVLink
|
||
|
|
find_package(MAVLink)
|
||
|
|
|
||
|
|
# see if catkin was invoked to build this
|
||
|
|
if (CATKIN_DEVEL_PREFIX)
|
||
|
|
message(STATUS "catkin ENABLED")
|
||
|
|
find_package(catkin REQUIRED)
|
||
|
|
if (catkin_FOUND)
|
||
|
|
catkin_package()
|
||
|
|
else()
|
||
|
|
message(FATAL_ERROR "catkin not found")
|
||
|
|
endif()
|
||
|
|
else()
|
||
|
|
message(STATUS "catkin DISABLED")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
# XXX this approach is extremely error prone
|
||
|
|
# it would be preferable to either depend on the
|
||
|
|
# compiled headers from Gazebo directly
|
||
|
|
# or to have something entirely independent.
|
||
|
|
#
|
||
|
|
set(PROTOBUF_IMPORT_DIRS "")
|
||
|
|
foreach(ITR ${GAZEBO_INCLUDE_DIRS})
|
||
|
|
if(ITR MATCHES ".*gazebo-[0-9.]+$")
|
||
|
|
set(PROTOBUF_IMPORT_DIRS "${ITR}/gazebo/msgs/proto")
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
|
||
|
|
# PROTOBUF_IMPORT_DIRS has to be set before
|
||
|
|
# find_package is called
|
||
|
|
find_package(Protobuf REQUIRED)
|
||
|
|
pkg_check_modules(PROTOBUF protobuf)
|
||
|
|
|
||
|
|
if ("${PROTOBUF_VERSION}" VERSION_LESS "2.5.0")
|
||
|
|
message(FATAL_ERROR "protobuf version: ${PROTOBUF_VERSION} not compatible, must be >= 2.5.0")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
if("${GAZEBO_VERSION}" VERSION_LESS "6.0")
|
||
|
|
message(FATAL_ERROR "You need at least Gazebo 6.0. Your version: ${GAZEBO_VERSION}")
|
||
|
|
else()
|
||
|
|
message(STATUS "Gazebo version: ${GAZEBO_VERSION}")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package(Eigen3 QUIET)
|
||
|
|
if(NOT EIGEN3_FOUND)
|
||
|
|
# Fallback to cmake_modules
|
||
|
|
find_package(Eigen QUIET)
|
||
|
|
if(NOT EIGEN_FOUND)
|
||
|
|
pkg_check_modules(EIGEN3 REQUIRED eigen3)
|
||
|
|
else()
|
||
|
|
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
|
||
|
|
set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
|
||
|
|
endif()
|
||
|
|
else()
|
||
|
|
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
|
||
|
|
endif()
|
||
|
|
|
||
|
|
###########
|
||
|
|
## Build ##
|
||
|
|
###########
|
||
|
|
|
||
|
|
add_compile_options(-Wno-deprecated-declarations -Wno-address-of-packed-member)
|
||
|
|
|
||
|
|
set(GAZEBO_MSG_INCLUDE_DIRS)
|
||
|
|
foreach(ITR ${GAZEBO_INCLUDE_DIRS})
|
||
|
|
if(ITR MATCHES ".*gazebo-[0-9.]+$")
|
||
|
|
set(GAZEBO_MSG_INCLUDE_DIRS "${ITR}/gazebo/msgs")
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
|
||
|
|
include_directories(
|
||
|
|
include
|
||
|
|
${Boost_INCLUDE_DIR}
|
||
|
|
${CMAKE_CURRENT_BINARY_DIR}
|
||
|
|
${EIGEN3_INCLUDE_DIRS}
|
||
|
|
${EIGEN3_INCLUDE_DIRS}/eigen3 # Workaround for Eigen3
|
||
|
|
${GAZEBO_INCLUDE_DIRS}
|
||
|
|
${GAZEBO_MSG_INCLUDE_DIRS}
|
||
|
|
${MAVLINK_INCLUDE_DIRS}
|
||
|
|
${OGRE_INCLUDE_DIRS}
|
||
|
|
${OGRE_INCLUDE_DIRS}/Paging # Workaround for "fatal error: OgrePagedWorldSection.h: No such file or directory"
|
||
|
|
${OpenCV_INCLUDE_DIRS}
|
||
|
|
${OpticalFlow_INCLUDE_DIRS}
|
||
|
|
${TinyXML_INCLUDE_DIRS}
|
||
|
|
)
|
||
|
|
|
||
|
|
if (GSTREAMER_FOUND)
|
||
|
|
include_directories(
|
||
|
|
${GSTREAMER_INCLUDE_DIRS}
|
||
|
|
${GSTREAMER_APP_INCLUDE_DIRS}
|
||
|
|
)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
link_libraries(
|
||
|
|
${Boost_SYSTEM_LIBRARY_RELEASE}
|
||
|
|
${Boost_THREAD_LIBRARY_RELEASE}
|
||
|
|
${Boost_TIMER_LIBRARY_RELEASE}
|
||
|
|
${GAZEBO_LIBRARIES}
|
||
|
|
${OpenCV_LIBRARIES}
|
||
|
|
)
|
||
|
|
|
||
|
|
if (GSTREAMER_FOUND)
|
||
|
|
link_libraries(
|
||
|
|
${GSTREAMER_LIBRARIES}
|
||
|
|
${GSTREAMER_APP_LIBRARIES}
|
||
|
|
${GLIB_LDFLAGS}
|
||
|
|
gobject-2.0
|
||
|
|
)
|
||
|
|
|
||
|
|
if (APPLE)
|
||
|
|
link_libraries(
|
||
|
|
${ICU_UC_LDFLAGS}
|
||
|
|
)
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
|
||
|
|
link_directories(
|
||
|
|
${GAZEBO_LIBRARY_DIRS}
|
||
|
|
${CMAKE_CURRENT_BINARY_DIR}
|
||
|
|
${OGRE_LIBRARY_DIRS}
|
||
|
|
)
|
||
|
|
|
||
|
|
#--------------------------#
|
||
|
|
# Generation of SDF models #
|
||
|
|
#--------------------------#
|
||
|
|
|
||
|
|
set(enable_mavlink_interface "true")
|
||
|
|
set(enable_ground_truth "false")
|
||
|
|
set(enable_logging "false")
|
||
|
|
set(enable_camera "false")
|
||
|
|
set(enable_wind "false")
|
||
|
|
set(scripts_dir "${CMAKE_CURRENT_SOURCE_DIR}/scripts")
|
||
|
|
# set the vision estimation to be sent if set by the CMake option SEND_VISION_ESTIMATION_DATA
|
||
|
|
set(send_vision_estimation "false")
|
||
|
|
if (SEND_VISION_ESTIMATION_DATA)
|
||
|
|
set(send_vision_estimation "true")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
# if SEND_ODOMETRY_DATA option is set, then full odometry data is sent instead of
|
||
|
|
# only the visual pose estimate
|
||
|
|
set(send_odometry "false")
|
||
|
|
if (SEND_ODOMETRY_DATA)
|
||
|
|
set(send_odometry "true")
|
||
|
|
set(send_vision_estimation "false")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
#-----------#
|
||
|
|
# Functions #
|
||
|
|
#-----------#
|
||
|
|
|
||
|
|
function(glob_generate target file_glob)
|
||
|
|
file(READ .gitignore gitignore_content)
|
||
|
|
file(GLOB_RECURSE glob_files RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${file_glob})
|
||
|
|
set(gen_files)
|
||
|
|
foreach(glob_file ${glob_files})
|
||
|
|
string(REGEX REPLACE "\\.[^.]*$" "" file_name ${glob_file})
|
||
|
|
string(REGEX MATCH "[^.]*$" file_ext ${glob_file})
|
||
|
|
get_filename_component(file_dir ${glob_file} DIRECTORY)
|
||
|
|
set(in_file ${CMAKE_CURRENT_SOURCE_DIR}/${glob_file})
|
||
|
|
file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${file_dir})
|
||
|
|
set(out_file ${CMAKE_CURRENT_SOURCE_DIR}/${file_name})
|
||
|
|
string(REGEX REPLACE ".sdf" ".sdf" out_file ${out_file})
|
||
|
|
if (${file_ext} STREQUAL "jinja")
|
||
|
|
if(GENERATE_ROS_MODELS)
|
||
|
|
add_custom_command(OUTPUT ${out_file}
|
||
|
|
COMMAND
|
||
|
|
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR} --generate_ros_models true
|
||
|
|
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
|
||
|
|
VERBATIM
|
||
|
|
)
|
||
|
|
else()
|
||
|
|
add_custom_command(OUTPUT ${out_file}
|
||
|
|
COMMAND
|
||
|
|
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR}
|
||
|
|
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
|
||
|
|
VERBATIM
|
||
|
|
COMMAND
|
||
|
|
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf} ${CMAKE_CURRENT_SOURCE_DIR}
|
||
|
|
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf
|
||
|
|
VERBATIM
|
||
|
|
)
|
||
|
|
endif()
|
||
|
|
list(APPEND gen_files_${target} ${out_file})
|
||
|
|
string(REGEX REPLACE "${CMAKE_CURRENT_SOURCE_DIR}/" "" gitignore_str ${in_file})
|
||
|
|
string(REGEX REPLACE ".jinja" "" gitignore_str ${gitignore_str})
|
||
|
|
string(FIND ${gitignore_content} ${gitignore_str} gitignore_substr)
|
||
|
|
if(${gitignore_substr} EQUAL -1)
|
||
|
|
file(APPEND .gitignore ${gitignore_str} "\n")
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
add_custom_target(${target} ALL DEPENDS ${gen_files_${target}})
|
||
|
|
endfunction()
|
||
|
|
|
||
|
|
glob_generate(models_gen ${CMAKE_CURRENT_SOURCE_DIR}/models/*.jinja)
|
||
|
|
|
||
|
|
#--------------------#
|
||
|
|
# Message Generation #
|
||
|
|
#--------------------#
|
||
|
|
|
||
|
|
set(mav_msgs
|
||
|
|
msgs/CommandMotorSpeed.proto
|
||
|
|
msgs/MotorSpeed.proto
|
||
|
|
)
|
||
|
|
set(nav_msgs msgs/Odometry.proto)
|
||
|
|
set(physics_msgs
|
||
|
|
msgs/Force.proto
|
||
|
|
msgs/Wind.proto
|
||
|
|
)
|
||
|
|
set(std_msgs msgs/Int32.proto)
|
||
|
|
set(sensor_msgs
|
||
|
|
msgs/Airspeed.proto
|
||
|
|
msgs/Imu.proto
|
||
|
|
msgs/IRLock.proto
|
||
|
|
msgs/Float.proto
|
||
|
|
msgs/Groundtruth.proto
|
||
|
|
msgs/Range.proto
|
||
|
|
msgs/SITLGps.proto
|
||
|
|
msgs/OpticalFlow.proto
|
||
|
|
msgs/MagneticField.proto
|
||
|
|
msgs/Pressure.proto
|
||
|
|
)
|
||
|
|
|
||
|
|
PROTOBUF_GENERATE_CPP(MAV_PROTO_SRCS MAV_PROTO_HDRS ${mav_msgs})
|
||
|
|
PROTOBUF_GENERATE_CPP(NAV_PROTO_SRCS NAV_PROTO_HDRS ${nav_msgs})
|
||
|
|
PROTOBUF_GENERATE_CPP(PHY_PROTO_SRCS PHY_PROTO_HDRS ${physics_msgs})
|
||
|
|
PROTOBUF_GENERATE_CPP(STD_PROTO_SRCS STD_PROTO_HDRS ${std_msgs})
|
||
|
|
PROTOBUF_GENERATE_CPP(SEN_PROTO_SRCS SEN_PROTO_HDRS ${sensor_msgs})
|
||
|
|
|
||
|
|
add_library(mav_msgs SHARED ${MAV_PROTO_SRCS})
|
||
|
|
add_library(nav_msgs SHARED ${NAV_PROTO_SRCS})
|
||
|
|
add_library(physics_msgs SHARED ${PHY_PROTO_SRCS})
|
||
|
|
add_library(std_msgs SHARED ${STD_PROTO_SRCS})
|
||
|
|
add_library(sensor_msgs SHARED ${SEN_PROTO_SRCS})
|
||
|
|
|
||
|
|
#---------#
|
||
|
|
# Plugins #
|
||
|
|
#---------#
|
||
|
|
|
||
|
|
link_libraries(mav_msgs nav_msgs std_msgs sensor_msgs)
|
||
|
|
link_libraries(physics_msgs)
|
||
|
|
|
||
|
|
add_library(gazebo_airspeed_plugin SHARED src/gazebo_airspeed_plugin.cpp)
|
||
|
|
add_library(gazebo_camera_manager_plugin SHARED src/gazebo_camera_manager_plugin.cpp)
|
||
|
|
add_library(gazebo_gps_plugin SHARED src/gazebo_gps_plugin.cpp)
|
||
|
|
add_library(gazebo_groundtruth_plugin SHARED src/gazebo_groundtruth_plugin.cpp)
|
||
|
|
add_library(gazebo_irlock_plugin SHARED src/gazebo_irlock_plugin.cpp)
|
||
|
|
add_library(gazebo_lidar_plugin SHARED src/gazebo_lidar_plugin.cpp)
|
||
|
|
add_library(gazebo_opticalflow_mockup_plugin SHARED src/gazebo_opticalflow_mockup_plugin.cpp)
|
||
|
|
add_library(gazebo_opticalflow_plugin SHARED src/gazebo_opticalflow_plugin.cpp)
|
||
|
|
add_library(gazebo_sonar_plugin SHARED src/gazebo_sonar_plugin.cpp)
|
||
|
|
add_library(gazebo_uuv_plugin SHARED src/gazebo_uuv_plugin.cpp)
|
||
|
|
add_library(gazebo_vision_plugin SHARED src/gazebo_vision_plugin.cpp)
|
||
|
|
add_library(gazebo_controller_interface SHARED src/gazebo_controller_interface.cpp)
|
||
|
|
add_library(gazebo_gimbal_controller_plugin SHARED src/gazebo_gimbal_controller_plugin.cpp)
|
||
|
|
add_library(gazebo_imu_plugin SHARED src/gazebo_imu_plugin.cpp)
|
||
|
|
add_library(gazebo_mavlink_interface SHARED src/gazebo_mavlink_interface.cpp src/mavlink_interface.cpp)
|
||
|
|
add_library(gazebo_motor_model SHARED src/gazebo_motor_model.cpp)
|
||
|
|
add_library(gazebo_multirotor_base_plugin SHARED src/gazebo_multirotor_base_plugin.cpp)
|
||
|
|
add_library(gazebo_wind_plugin SHARED src/gazebo_wind_plugin.cpp)
|
||
|
|
add_library(gazebo_magnetometer_plugin SHARED src/gazebo_magnetometer_plugin.cpp src/geo_mag_declination.cpp)
|
||
|
|
add_library(gazebo_barometer_plugin SHARED src/gazebo_barometer_plugin.cpp)
|
||
|
|
add_library(gazebo_catapult_plugin SHARED src/gazebo_catapult_plugin.cpp)
|
||
|
|
add_library(gazebo_usv_dynamics_plugin SHARED src/gazebo_usv_dynamics_plugin.cpp)
|
||
|
|
add_library(gazebo_parachute_plugin SHARED src/gazebo_parachute_plugin.cpp)
|
||
|
|
add_library(gazebo_airship_dynamics_plugin SHARED src/gazebo_airship_dynamics_plugin.cpp)
|
||
|
|
add_library(gazebo_drop_plugin SHARED src/gazebo_drop_plugin.cpp)
|
||
|
|
|
||
|
|
set(plugins
|
||
|
|
gazebo_airspeed_plugin
|
||
|
|
gazebo_camera_manager_plugin
|
||
|
|
gazebo_gps_plugin
|
||
|
|
gazebo_groundtruth_plugin
|
||
|
|
gazebo_irlock_plugin
|
||
|
|
gazebo_lidar_plugin
|
||
|
|
gazebo_opticalflow_mockup_plugin
|
||
|
|
gazebo_opticalflow_plugin
|
||
|
|
gazebo_sonar_plugin
|
||
|
|
gazebo_uuv_plugin
|
||
|
|
gazebo_vision_plugin
|
||
|
|
gazebo_controller_interface
|
||
|
|
gazebo_gimbal_controller_plugin
|
||
|
|
gazebo_imu_plugin
|
||
|
|
gazebo_mavlink_interface
|
||
|
|
gazebo_motor_model
|
||
|
|
gazebo_multirotor_base_plugin
|
||
|
|
gazebo_wind_plugin
|
||
|
|
gazebo_magnetometer_plugin
|
||
|
|
gazebo_barometer_plugin
|
||
|
|
gazebo_catapult_plugin
|
||
|
|
gazebo_usv_dynamics_plugin
|
||
|
|
gazebo_parachute_plugin
|
||
|
|
gazebo_airship_dynamics_plugin
|
||
|
|
gazebo_drop_plugin
|
||
|
|
)
|
||
|
|
|
||
|
|
foreach(plugin ${plugins})
|
||
|
|
target_link_libraries(${plugin} ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${TinyXML_LIBRARIES})
|
||
|
|
endforeach()
|
||
|
|
target_link_libraries(gazebo_opticalflow_plugin ${OpticalFlow_LIBS})
|
||
|
|
|
||
|
|
# If BUILD_ROS_PLUGINS set to ON, build plugins that have ROS dependencies
|
||
|
|
# Current plugins that can be used with ROS interface: gazebo_motor_failure_plugin
|
||
|
|
if (BUILD_ROS_PLUGINS)
|
||
|
|
add_library(gazebo_motor_failure_plugin SHARED src/gazebo_motor_failure_plugin.cpp)
|
||
|
|
target_link_libraries(gazebo_motor_failure_plugin ${GAZEBO_libraries} ${roscpp_LIBRARIES})
|
||
|
|
list(APPEND plugins gazebo_motor_failure_plugin)
|
||
|
|
message(STATUS "adding gazebo_motor_failure_plugin to build")
|
||
|
|
|
||
|
|
include_directories(
|
||
|
|
include
|
||
|
|
${geometry_msgs_INCLUDE_DIRS}
|
||
|
|
${sensor_msgs_INCLUDE_DIRS}
|
||
|
|
)
|
||
|
|
|
||
|
|
target_link_libraries(gazebo_motor_failure_plugin
|
||
|
|
${catkin_LIBRARIES}
|
||
|
|
${roscpp_LIBRARIES}
|
||
|
|
${GAZEBO_libraries}
|
||
|
|
)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
if (GSTREAMER_FOUND)
|
||
|
|
add_library(gazebo_gst_camera_plugin SHARED src/gazebo_gst_camera_plugin.cpp)
|
||
|
|
set(plugins
|
||
|
|
${plugins}
|
||
|
|
gazebo_gst_camera_plugin
|
||
|
|
)
|
||
|
|
message(STATUS "Found GStreamer: adding gst_camera_plugin")
|
||
|
|
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
|
||
|
|
QT4_WRAP_CPP(headers_MOC include/gazebo_video_stream_widget.h)
|
||
|
|
add_library(gazebo_video_stream_widget SHARED ${headers_MOC} src/gazebo_video_stream_widget.cpp)
|
||
|
|
target_link_libraries(gazebo_video_stream_widget ${GAZEBO_LIBRARIES} ${QT_LIBRARIES})
|
||
|
|
set(plugins
|
||
|
|
${plugins}
|
||
|
|
gazebo_video_stream_widget
|
||
|
|
)
|
||
|
|
message(STATUS "Found GStreamer: adding gst_video_stream_widget")
|
||
|
|
else()
|
||
|
|
QT5_WRAP_CPP(headers_MOC include/gazebo_video_stream_widget.h)
|
||
|
|
add_library(gazebo_video_stream_widget SHARED ${headers_MOC} src/gazebo_video_stream_widget.cpp)
|
||
|
|
target_link_libraries(gazebo_video_stream_widget ${GAZEBO_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${Qt5Test_LIBRARIES})
|
||
|
|
set(plugins
|
||
|
|
${plugins}
|
||
|
|
gazebo_video_stream_widget
|
||
|
|
)
|
||
|
|
message(STATUS "Found GStreamer: adding gst_video_stream_widget")
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
|
||
|
|
QT5_WRAP_CPP(headers_MOC2 include/gazebo_user_camera_plugin.h)
|
||
|
|
add_library(gazebo_user_camera_plugin SHARED ${headers_MOC2} src/gazebo_user_camera_plugin.cpp)
|
||
|
|
target_link_libraries(gazebo_user_camera_plugin ${GAZEBO_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${Qt5Test_LIBRARIES})
|
||
|
|
set(plugins
|
||
|
|
${plugins}
|
||
|
|
gazebo_user_camera_plugin
|
||
|
|
)
|
||
|
|
|
||
|
|
# Linux is not consistent with plugin availability, even on Gazebo 7
|
||
|
|
#if("${GAZEBO_VERSION}" VERSION_LESS "7.0")
|
||
|
|
add_library(LiftDragPlugin SHARED src/liftdrag_plugin/liftdrag_plugin.cpp)
|
||
|
|
list(APPEND plugins LiftDragPlugin)
|
||
|
|
|
||
|
|
add_library(ForceVisual SHARED src/force_visual/force_visual.cpp)
|
||
|
|
list(APPEND plugins ForceVisual)
|
||
|
|
#endif()
|
||
|
|
|
||
|
|
foreach(plugin ${plugins})
|
||
|
|
add_dependencies(${plugin} mav_msgs nav_msgs std_msgs sensor_msgs)
|
||
|
|
add_dependencies(${plugin} physics_msgs)
|
||
|
|
endforeach()
|
||
|
|
|
||
|
|
# Configure the setup script
|
||
|
|
if (catkin_FOUND)
|
||
|
|
catkin_add_env_hooks(50_sitl_gazebo_setup
|
||
|
|
DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmake
|
||
|
|
SHELLS sh)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
|
||
|
|
################
|
||
|
|
## Unit Tests ##
|
||
|
|
################
|
||
|
|
include(UnitTests)
|
||
|
|
|
||
|
|
add_subdirectory(unit_tests)
|
||
|
|
|
||
|
|
|
||
|
|
#############
|
||
|
|
## Install ##
|
||
|
|
#############
|
||
|
|
|
||
|
|
set(PLUGIN_PATH ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/plugins)
|
||
|
|
set(MODEL_PATH ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/models)
|
||
|
|
set(RESOURCE_PATH ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
|
||
|
|
|
||
|
|
file(REMOVE_RECURSE ${PROJECT_SOURCE_DIR}/models/.DS_Store)
|
||
|
|
file(GLOB models_list LIST_DIRECTORIES true ${PROJECT_SOURCE_DIR}/models/*)
|
||
|
|
|
||
|
|
file(REMOVE_RECURSE ${PROJECT_SOURCE_DIR}/worlds/.DS_Store)
|
||
|
|
file(GLOB worlds_list LIST_DIRECTORIES true ${PROJECT_SOURCE_DIR}/worlds/*)
|
||
|
|
|
||
|
|
install(TARGETS ${plugins} mav_msgs nav_msgs std_msgs sensor_msgs DESTINATION ${PLUGIN_PATH})
|
||
|
|
install(DIRECTORY ${models_list} DESTINATION ${MODEL_PATH})
|
||
|
|
install(FILES ${worlds_list} DESTINATION ${RESOURCE_PATH}/worlds)
|
||
|
|
|
||
|
|
configure_file(src/setup.sh.in "${CMAKE_CURRENT_BINARY_DIR}/setup.sh" @ONLY)
|
||
|
|
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${RESOURCE_PATH})
|
||
|
|
|
||
|
|
install(FILES ${PROJECT_SOURCE_DIR}/package.xml DESTINATION ${RESOURCE_PATH})
|
||
|
|
|
||
|
|
#############
|
||
|
|
## Testing ##
|
||
|
|
#############
|
||
|
|
|
||
|
|
# TODO
|
||
|
|
|
||
|
|
###############
|
||
|
|
## Packaging ##
|
||
|
|
###############
|
||
|
|
|
||
|
|
set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION})
|
||
|
|
set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
|
||
|
|
set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
|
||
|
|
set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
|
||
|
|
set(CPACK_PACKAGE_CONTACT pxusers@googlegroups.com)
|
||
|
|
set(DEBIAN_PACKAGE_DEPENDS "")
|
||
|
|
set(RPM_PACKAGE_DEPENDS "")
|
||
|
|
|
||
|
|
set(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_PACKAGE_DEPENDS})
|
||
|
|
set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
|
||
|
|
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
|
||
|
|
set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
|
||
|
|
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "gazebo plugins for px4 sitl.")
|
||
|
|
|
||
|
|
set(CPACK_RPM_PACKAGE_REQUIRES "${DEBIAN_PACKAGE_DEPENDS}")
|
||
|
|
set(CPACK_RPM_PACKAGE_DESCRIPTION "Gazebo plugins for px4 sitl.")
|
||
|
|
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION}-${PROJECT_VERSION}")
|
||
|
|
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION}-${PROJECT_VERSION}")
|
||
|
|
|
||
|
|
include(CPack)
|