diff options
| -rw-r--r-- | CMakeLists.txt | 163 | ||||
| -rw-r--r-- | msg/rc_channels.msg | 8 | ||||
| -rw-r--r-- | package.xml | 59 |
3 files changed, 230 insertions, 0 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 000000000..834a8f0c1 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,163 @@ +cmake_minimum_required(VERSION 2.8.3) +project(px4) + +## 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 +) + +## 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 +# Message1.msg +# Message2.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 include +# LIBRARIES px4 +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(px4 +# src/${PROJECT_NAME}/px4test.cpp # src/platform/ros/ros.cpp +# ) + +## Declare a cpp executable +add_executable(rostest_node src/platform/ros/ros.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +add_dependencies(rostest_node px4_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +target_link_libraries(rostest_node + ${catkin_LIBRARIES} +) + +############# +## 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 mc_attitude_control +# 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) diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg new file mode 100644 index 000000000..9b3c70835 --- /dev/null +++ b/msg/rc_channels.msg @@ -0,0 +1,8 @@ +Header header +int32 RC_CHANNELS_FUNCTION_MAX=18 +uint64 timestamp_last_valid # Timestamp of last valid RC signal +float32 channels[RC_CHANNELS_FUNCTION_MAX] # Scaled to -1..1 (throttle: 0..1) +uint8 channel_count # Number of valid channels +int8 function[RC_CHANNELS_FUNCTION_MAX] # Functions mapping +uint8 rssi # Receive signal strength index +bool signal_lost # Control signal lost, should be checked together with topic timeout
\ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 000000000..3575119be --- /dev/null +++ b/package.xml @@ -0,0 +1,59 @@ +<?xml version="1.0"?> +<package> + <name>px4</name> + <version>1.0.0</version> + <description>The PX4 Flight Stack package</description> + + <!-- One maintainer tag required, multiple allowed, one person per tag --> + <!-- Example: --> + <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> + <maintainer email="lorenz@px4.io">Lorenz Meier</maintainer> + + + <!-- One license tag required, multiple allowed, one license per tag --> + <!-- Commonly used license strings: --> + <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> + <license>BSD</license> + + + <!-- Url tags are optional, but mutiple are allowed, one per tag --> + <!-- Optional attribute type can be: website, bugtracker, or repository --> + <!-- Example: --> + <url type="website">http://px4.io/ros</url> + + + <!-- Author tags are optional, mutiple are allowed, one per tag --> + <!-- Authors do not have to be maintianers, but could be --> + <!-- Example: --> + <!-- <author email="jane.doe@example.com">Jane Doe</author> --> + + + <!-- The *_depend tags are used to specify dependencies --> + <!-- Dependencies can be catkin packages or system dependencies --> + <!-- Examples: --> + <!-- Use build_depend for packages you need at compile time: --> + <!-- <build_depend>message_generation</build_depend> --> + <!-- Use buildtool_depend for build tool packages: --> + <!-- <buildtool_depend>catkin</buildtool_depend> --> + <!-- Use run_depend for packages you need at runtime: --> + <!-- <run_depend>message_runtime</run_depend> --> + <!-- Use test_depend for packages you need only for testing: --> + <!-- <test_depend>gtest</test_depend> --> + <buildtool_depend>catkin</buildtool_depend> + <build_depend>roscpp</build_depend> + <build_depend>rospy</build_depend> + <build_depend>std_msgs</build_depend> + <run_depend>roscpp</run_depend> + <run_depend>rospy</run_depend> + <run_depend>std_msgs</run_depend> + + + <!-- The export tag contains other, unspecified, tags --> + <export> + <!-- You can specify that this package is a metapackage here: --> + <!-- <metapackage/> --> + + <!-- Other tools can request additional information be placed here --> + + </export> +</package>
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