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Diffstat (limited to 'CMakeLists.txt')
-rw-r--r-- | CMakeLists.txt | 265 |
1 files changed, 265 insertions, 0 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 000000000..f76dbbf41 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,265 @@ +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) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation + cmake_modules + gazebo_msgs + sensor_msgs + mav_msgs +) +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 + mc_virtual_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 + gazebo_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 message_runtime 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( + ${catkin_INCLUDE_DIRS} + src/platforms + src/platforms/ros/px4_messages + src/include + src/modules + src/ + src/lib + ${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 + src/platforms/ros/perf_counter.cpp + src/platforms/ros/geo.cpp + src/lib/mathlib/math/Limits.cpp + src/modules/systemlib/circuit_breaker.cpp +) +add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) + +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_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) +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_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers) +target_link_libraries(subscriber + ${catkin_LIBRARIES} + px4 +) + +## MC Attitude Control +add_executable(mc_att_control + src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp + src/modules/mc_att_control_multiplatform/mc_att_control.cpp + src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp) +add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp) +target_link_libraries(mc_att_control + ${catkin_LIBRARIES} + px4 +) + +## Attitude Estimator dummy +add_executable(attitude_estimator + src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp) +add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp) +target_link_libraries(attitude_estimator + ${catkin_LIBRARIES} + px4 +) + +## Manual input +add_executable(manual_input + src/platforms/ros/nodes/manual_input/manual_input.cpp) +add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp) +target_link_libraries(manual_input + ${catkin_LIBRARIES} + px4 +) + +## Multicopter Mixer dummy +add_executable(mc_mixer + src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp) +add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp) +target_link_libraries(mc_mixer + ${catkin_LIBRARIES} + px4 +) + +## Commander +add_executable(commander + src/platforms/ros/nodes/commander/commander.cpp) +add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp) +target_link_libraries(commander + ${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 ${PROJECT_NAME} + 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) |