diff options
Diffstat (limited to 'CMakeLists.txt')
| -rw-r--r-- | CMakeLists.txt | 42 |
1 files changed, 39 insertions, 3 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 2de236ff6..0c81607b0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(px4) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") add_definitions(-D__PX4_ROS) +add_definitions(-D__EXPORT=) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) @@ -68,6 +69,11 @@ add_message_files( actuator_armed.msg parameter_update.msg vehicle_status.msg + vehicle_local_position.msg + position_setpoint.msg + position_setpoint_triplet.msg + vehicle_local_position_setpoint.msg + vehicle_global_velocity_setpoint.msg ) ## Generate services in the 'srv' folder @@ -116,6 +122,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} src/platforms + src/platforms/ros/px4_messages src/include src/modules src/ @@ -123,6 +130,16 @@ include_directories( ${EIGEN_INCLUDE_DIRS} ) +## generate multiplatform wrapper headers +## note that the message header files are generated as in any ROS project with generate_messages() +set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages) +set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros) +set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary) +set(MULTIPLATFORM_PREFIX px4_) +add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py + -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR} + -t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX}) + ## Declare a cpp library add_library(px4 src/platforms/ros/px4_ros_impl.cpp @@ -131,7 +148,7 @@ add_library(px4 src/lib/mathlib/math/Limits.cpp src/modules/systemlib/circuit_breaker.cpp ) -add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp) +add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) target_link_libraries(px4 ${catkin_LIBRARIES} @@ -141,7 +158,7 @@ target_link_libraries(px4 add_executable(publisher src/examples/publisher/publisher_main.cpp src/examples/publisher/publisher_example.cpp) -add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp) +add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) target_link_libraries(publisher ${catkin_LIBRARIES} px4 @@ -151,7 +168,7 @@ target_link_libraries(publisher add_executable(subscriber src/examples/subscriber/subscriber_main.cpp src/examples/subscriber/subscriber_example.cpp) -add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp) +add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) target_link_libraries(subscriber ${catkin_LIBRARIES} px4 @@ -168,6 +185,16 @@ target_link_libraries(mc_att_control px4 ) +## MC Position Control +add_executable(mc_pos_control + src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp + src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp) +add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp) +target_link_libraries(mc_pos_control + ${catkin_LIBRARIES} + px4 +) + ## Attitude Estimator dummy add_executable(attitude_estimator src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp) @@ -177,6 +204,15 @@ target_link_libraries(attitude_estimator px4 ) +## Position Estimator dummy +add_executable(position_estimator + src/platforms/ros/nodes/position_estimator/position_estimator.cpp) +add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp) +target_link_libraries(position_estimator + ${catkin_LIBRARIES} + px4 +) + ## Manual input add_executable(manual_input src/platforms/ros/nodes/manual_input/manual_input.cpp) |