-
Notifications
You must be signed in to change notification settings - Fork 25
/
Copy pathCMakeLists.txt
221 lines (173 loc) · 6.77 KB
/
CMakeLists.txt
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
cmake_minimum_required(VERSION 2.8.3)
project(px4_command)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## 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
message_generation
roscpp
geometry_msgs
sensor_msgs
mavros
nav_msgs
std_msgs
std_srvs
tf2_ros
tf2_eigen
mavros_msgs
)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
################################################
## Declare ROS messages, services and actions ##
################################################
## Generate messages in the 'msg' folder
add_message_files(
DIRECTORY msg
FILES
ControlCommand.msg
TrajectoryPoint.msg
Trajectory.msg
AttitudeReference.msg
DroneState.msg
Topic_for_log.msg
ControlOutput.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs
sensor_msgs
std_msgs
)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS message_runtime
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
###############################
## 声明可执行cpp文件 ##
###############################
add_library(OptiTrackFeedbackRigidBody src/lib/OptiTrackFeedBackRigidBody.cpp)
add_library(KeyboardEvent src/lib/KeyboardEvent.cpp)
###### Main File ##########
##px4_pos_controller.cpp
add_executable(px4_pos_controller src/px4_pos_controller.cpp)
add_dependencies(px4_pos_controller px4_command_gencpp)
target_link_libraries(px4_pos_controller ${catkin_LIBRARIES})
##px4_pos_estimator.cpp
add_executable(px4_pos_estimator src/px4_pos_estimator.cpp)
add_dependencies(px4_pos_estimator px4_command_gencpp)
target_link_libraries(px4_pos_estimator ${catkin_LIBRARIES})
target_link_libraries(px4_pos_estimator OptiTrackFeedbackRigidBody)
##px4_sender.cpp
add_executable(px4_sender src/px4_sender.cpp)
add_dependencies(px4_sender px4_command_gencpp)
target_link_libraries(px4_sender ${catkin_LIBRARIES})
##ground_station.cpp
add_executable(ground_station src/ground_station.cpp)
add_dependencies(ground_station px4_command_gencpp)
target_link_libraries(ground_station ${catkin_LIBRARIES})
target_link_libraries(ground_station OptiTrackFeedbackRigidBody)
###### Test File ##########
###### Utilities File ##########
add_executable(setpoint_track src/Utilities/setpoint_track.cpp)
add_dependencies(setpoint_track px4_command_gencpp)
target_link_libraries(setpoint_track ${catkin_LIBRARIES})
add_executable(filter_tester src/Utilities/filter_tester.cpp)
add_dependencies(filter_tester px4_command_gencpp)
target_link_libraries(filter_tester ${catkin_LIBRARIES})
add_executable(TFmini src/Utilities/TFmini.cpp)
add_dependencies(TFmini px4_command_gencpp)
target_link_libraries(TFmini ${catkin_LIBRARIES})
add_executable(fake_vicon src/Utilities/fake_vicon.cpp)
add_dependencies(fake_vicon px4_command_gencpp)
target_link_libraries(fake_vicon ${catkin_LIBRARIES})
add_executable(move src/Utilities/move.cpp)
add_dependencies(move px4_command_gencpp)
target_link_libraries(move ${catkin_LIBRARIES})
add_executable(OptiTrackTest src/Utilities/OptiTrackTest.cpp)
add_dependencies(OptiTrackTest px4_command_gencpp)
target_link_libraries(OptiTrackTest ${catkin_LIBRARIES})
target_link_libraries(OptiTrackTest OptiTrackFeedbackRigidBody)
target_link_libraries(OptiTrackTest KeyboardEvent)
add_executable(set_mode src/Utilities/set_mode.cpp)
add_dependencies(set_mode px4_command_gencpp)
target_link_libraries(set_mode ${catkin_LIBRARIES})
add_executable(eigen_test src/Utilities/eigen_test.cpp)
add_dependencies(eigen_test px4_command_gencpp)
target_link_libraries(eigen_test ${catkin_LIBRARIES})
###### Application File ##########
add_executable(square src/Application/square.cpp)
add_dependencies(square px4_command_gencpp)
target_link_libraries(square ${catkin_LIBRARIES})
add_executable(autonomous_landing src/Application/autonomous_landing.cpp)
add_dependencies(autonomous_landing px4_command_gencpp)
target_link_libraries(autonomous_landing ${catkin_LIBRARIES})
add_executable(target_tracking src/Application/target_tracking.cpp)
add_dependencies(target_tracking px4_command_gencpp)
target_link_libraries(target_tracking ${catkin_LIBRARIES})
add_executable(collision_avoidance src/Application/collision_avoidance.cpp)
add_dependencies(collision_avoidance px4_command_gencpp)
target_link_libraries(collision_avoidance ${catkin_LIBRARIES})
add_executable(collision_avoidance_streo src/Application/collision_avoidance_streo.cpp)
add_dependencies(collision_avoidance_streo px4_command_gencpp)
target_link_libraries(collision_avoidance_streo ${catkin_LIBRARIES})
add_executable(payload_drop src/Application/payload_drop.cpp)
add_dependencies(payload_drop px4_command_gencpp)
target_link_libraries(payload_drop ${catkin_LIBRARIES})
add_executable(formation_control_sitl src/Application/formation_control_sitl.cpp)
add_dependencies(formation_control_sitl px4_command_gencpp)
target_link_libraries(formation_control_sitl ${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 ${PROJECT_NAME} ${PROJECT_NAME}_node
# 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 ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)
## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4_command.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)