blob: 01b52a436d9bc5af06499a5cd538aaabb9780cb3 (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
|
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=)
add_definitions(-DMAVLINK_DIALECT=common)
## 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
geometry_msgs
message_generation
cmake_modules
gazebo_msgs
sensor_msgs
mav_msgs
libmavconn
)
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
vehicle_local_position.msg
position_setpoint.msg
position_setpoint_triplet.msg
vehicle_local_position_setpoint.msg
vehicle_global_velocity_setpoint.msg
offboard_control_mode.msg
vehicle_force_setpoint.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 libmavconn
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
)
## 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)
add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(attitude_estimator
${catkin_LIBRARIES}
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)
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 dummy
add_executable(commander
src/platforms/ros/nodes/commander/commander.cpp)
add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(commander
${catkin_LIBRARIES}
px4
)
## Mavlink dummy
add_executable(mavlink
src/platforms/ros/nodes/mavlink/mavlink.cpp)
add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mavlink
${catkin_LIBRARIES}
px4
)
## Offboard Position Setpoint Demo
add_executable(demo_offboard_position_setpoints
src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(demo_offboard_position_setpoints
${catkin_LIBRARIES}
px4
)
## Offboard Attitude Setpoint Demo
add_executable(demo_offboard_attitude_setpoints
src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(demo_offboard_attitude_setpoints
${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)
|