mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-26 11:43:25 +00:00
323 lines
10 KiB
CMake
323 lines
10 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(clover)
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## Compile as C++11, supported in ROS Kinetic and newer
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add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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nodelet
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pluginlib
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roscpp
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genmsg
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rospy
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std_msgs
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message_generation
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geometry_msgs
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sensor_msgs
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geographic_msgs
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tf
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tf2
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tf2_geometry_msgs
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tf2_ros
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image_transport
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cv_bridge
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)
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
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find_package(GeographicLib REQUIRED)
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# Workaround for OpenCV 3/4 support
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set(_opencv_version 4)
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find_package(OpenCV ${_opencv_version} QUIET COMPONENTS calib3d imgproc)
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if (NOT OpenCV_FOUND)
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message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
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set(_opencv_version 3)
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endif()
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find_package(OpenCV ${_opencv_version} REQUIRED
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COMPONENTS
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calib3d
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imgproc
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)
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find_package(Threads REQUIRED)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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add_service_files(
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FILES
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GetTelemetry.srv
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Navigate.srv
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NavigateGlobal.srv
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SetPosition.srv
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SetVelocity.srv
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SetAttitude.srv
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SetRates.srv
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SetLEDEffect.srv
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Execute.srv
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)
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs # Or other packages containing msgs
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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# CATKIN_DEPENDS other_catkin_pkg
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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${GeographicLib_INCLUDE_DIRS}
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)
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# Declare a C++ library
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add_library(${PROJECT_NAME}
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src/optical_flow.cpp
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)
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(simple_offboard src/simple_offboard.cpp)
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# PX4 already has rc and led targets, so we prefix ours with clover_
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add_executable(clover_rc src/rc.cpp)
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add_executable(camera_markers src/camera_markers.cpp)
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add_executable(vpe_publisher src/vpe_publisher.cpp)
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add_executable(clover_led src/led.cpp)
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add_executable(shell src/shell.cpp)
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# message(STATUS "catkin_LIBRARIES value: ${catkin_LIBRARIES}")
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# message(STATUS "GeographicLib_LIBRARIES value: ${GeographicLib_LIBRARIES}")
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# message(STATUS "Compiler CXX flags:" ${CMAKE_CXX_COMPILE_FLAGS})
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# message(STATUS "Compiler C flags:" ${CMAKE_C_COMPILE_FLAGS})
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# message(STATUS "Compiler cxx debug flags:" ${CMAKE_CXX_FLAGS_DEBUG})
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# message(STATUS "Compiler cxx release flags:" ${CMAKE_CXX_FLAGS_RELEASE})
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# message(STATUS "Compiler cxx min size flags:" ${CMAKE_CXX_FLAGS_MINSIZEREL})
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# message(STATUS "Compiler cxx flags:" ${CMAKE_CXX_FLAGS})
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list(REMOVE_ITEM ${catkin_LIBRARIES} "-lpthreads")
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macro(print_all_variables)
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message(STATUS "print_all_variables------------------------------------------{")
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get_cmake_property(_variableNames VARIABLES)
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foreach (_variableName ${_variableNames})
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message(STATUS "${_variableName}=${${_variableName}}")
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endforeach()
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message(STATUS "print_all_variables------------------------------------------}")
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endmacro()
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print_all_variables()
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target_link_libraries(simple_offboard
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${catkin_LIBRARIES}
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${GeographicLib_LIBRARIES}
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)
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# Don't change actual binary names
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set_target_properties(clover_rc PROPERTIES OUTPUT_NAME rc)
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set_target_properties(clover_led PROPERTIES OUTPUT_NAME led)
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target_link_libraries(clover_rc ${catkin_LIBRARIES})
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target_link_libraries(camera_markers ${catkin_LIBRARIES})
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target_link_libraries(vpe_publisher ${catkin_LIBRARIES})
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target_link_libraries(clover_led ${catkin_LIBRARIES})
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target_link_libraries(shell ${catkin_LIBRARIES})
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add_dependencies(simple_offboard ${PROJECT_NAME}_generate_messages_cpp)
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add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp)
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add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}
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${catkin_LIBRARIES}
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${OpenCV_LIBRARIES}
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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catkin_install_python(PROGRAMS src/selfcheck.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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# Only install udev rules when building a Debian package
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# FIXME: Other operating systems may have other prefixes
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string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
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if (${_PREFIX_INDEX} EQUAL 0)
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message(STATUS "Building as a Debian package - adding udev rules as installable files")
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install(FILES
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config/99-px4fmu.rules
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DESTINATION /lib/udev/rules.d
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)
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else()
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message(STATUS "Building in a user workspace - not adding udev rules")
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endif()
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_${PROJECT_NAME}.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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if (CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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add_rostest(test/basic.test)
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endif()
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