CMakeLists.txt 11.7 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
cmake_minimum_required(VERSION 2.8.3)
project(d_fall_pps)

## Add support for C++11, supported in ROS Kinetic and newer
# add_definitions(-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
11
  message_generation
12
13
14
  roscpp
  rospy
  std_msgs
15
  genmsg
16
  rosbag
muelmarc's avatar
muelmarc committed
17
  roslib
18
19
)

20
21
22
23
24
25
26
27

# GUI -- Add precompiler definitions to include ROS things in GUI compilation
add_definitions(-DCATKIN_MAKE)

# GUI -- Things needed for Qt wrapper build process
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)

28
29
30
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

31
32
33
34
# GUI -- Add Qt support
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
find_package(Qt5Gui REQUIRED)
35
find_package(Qt5Svg REQUIRED)
36
37
38
39
40

# GUI -- Add src and includes
set(MY_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
set(MY_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/include)

41
42
43
# GUI -- Resource file
set(MY_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc)

roangel's avatar
roangel committed
44
45
46
47
48
# #set the default path for built executables to the "bin" directory
# set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
# #set the default path for built libraries to the "lib" directory
# set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

49
50
51
52
53
54
55
56
57
58
59
# GUI -- need c++11 for some things
add_definitions(-std=c++11)

# GUI -- Special Qt sources that need to be wrapped before being compiled
# they have the Qt macro QOBJECT inside, the MOC cpp file needs to be done manually
set(SRC_HDRS_QOBJECT
  ${MY_LIB_PATH_INC}/crazyFlyZoneTab.h
  ${MY_LIB_PATH_INC}/myGraphicsScene.h
  ${MY_LIB_PATH_INC}/myGraphicsView.h
  ${MY_LIB_PATH_INC}/mainguiwindow.h
  ${MY_LIB_PATH_INC}/rosNodeThread.h
60
  ${MY_LIB_PATH_INC}/CFLinker.h
61
62
63
64
  )
# GUI -- wrap UI file and QOBJECT files
qt5_wrap_ui(UIS_HDRS GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS ${SRC_HDRS_QOBJECT})
65

66
67
68
# GUI -- wrap resource file qrc->rcc
qt5_add_resources(MY_RESOURCE_FILE_RCC ${MY_RESOURCE_FILE_QRC})

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
## 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 tag for "message_generation"
##   * 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 dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * 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
#   Message1.msg
#   Message2.msg
# )

105
106
add_message_files(
  FILES
roangel's avatar
roangel committed
107
  UnlabeledMarker.msg
108
  CrazyflieData.msg
109
  ViconData.msg
bucyril's avatar
bucyril committed
110
  ControlCommand.msg
bucyril's avatar
bucyril committed
111
  CrazyflieContext.msg
muelmarc's avatar
muelmarc committed
112
  AreaBounds.msg
113
  Setpoint.msg
114
115
  CrazyflieEntry.msg
  CrazyflieDB.msg
116
117
  #----------------------------------------------------------------------
  Debugging.msg
118
119
)

120
121
122
123
124
125
## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )
bucyril's avatar
bucyril committed
126
127
add_service_files(
  FILES
bucyril's avatar
bucyril committed
128
  Controller.srv
129
130
131
132
  CMRead.srv
  CMQuery.srv
  CMUpdate.srv
  CMCommand.srv
bucyril's avatar
bucyril committed
133
)
134
135
136
137
138
139
140
141
142
143
144
145
146

## 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
# )
147
148
149
150
generate_messages(
  DEPENDENCIES
  std_msgs
)
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

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## 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(
182
  INCLUDE_DIRS include ${MY_LIB_PATH_INC} # GUI -- include headers from GUI in package
bucyril's avatar
bucyril committed
183
  LIBRARIES
muelmarc's avatar
muelmarc committed
184
  CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
bucyril's avatar
bucyril committed
185
  DEPENDS
186
187
188
189
190
191
192
193
194
195
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
196
  ${MY_LIB_PATH_INC}            # GUI -- include directory inside GUI folder
197
  ${catkin_INCLUDE_DIRS}
bucyril's avatar
bucyril committed
198
  include
199
200
201
)

## Declare a C++ library
202
203
204
##add_library(${PROJECT_NAME}
##  src/blablalba.cpp
##)
205
206
207
208
209
210
211
212
213
214

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/d_fall_pps_node.cpp)
bucyril's avatar
bucyril committed
215
add_executable(ViconDataPublisher src/ViconDataPublisher.cpp)
216
add_executable(PPSClient src/PPSClient.cpp)
bucyril's avatar
bucyril committed
217
add_executable(SafeControllerService src/SafeControllerService.cpp)
218
add_executable(CustomControllerService src/CustomControllerService.cpp)
bucyril's avatar
bucyril committed
219
add_executable(CentralManagerService src/CentralManagerService.cpp src/CrazyflieIO.cpp)
220
add_executable(CircleControllerService src/CircleControllerService.cpp)
221
add_executable(FollowCrazyflieService src/FollowCrazyflieService.cpp)
222

223

224

225
# GUI -- Add sources here
226
227
228
229
230
231
232
233
234
235
236
237
set(MY_CPP_SOURCES              # compilation of sources
    ${MY_LIB_PATH_SRC}/mainguiwindow.cpp
    ${MY_LIB_PATH_SRC}/main.cpp
    ${MY_LIB_PATH_SRC}/cornergrabber.cpp
    ${MY_LIB_PATH_SRC}/crazyFlyZone.cpp
    ${MY_LIB_PATH_SRC}/crazyFlyZoneTab.cpp
    ${MY_LIB_PATH_SRC}/myGraphicsRectItem.cpp
    ${MY_LIB_PATH_SRC}/myGraphicsScene.cpp
    ${MY_LIB_PATH_SRC}/myGraphicsView.cpp
    ${MY_LIB_PATH_SRC}/tablePiece.cpp
    ${MY_LIB_PATH_SRC}/marker.cpp
    ${MY_LIB_PATH_SRC}/rosNodeThread.cpp
238
    ${MY_LIB_PATH_SRC}/crazyFly.cpp
239
    ${MY_LIB_PATH_SRC}/CFLinker.cpp
240
    ${MY_LIB_PATH_SRC}/addressLUT.cpp
241
242
243
    )


244
245
# GUI -- Add executables here
add_executable(my_GUI ${MY_CPP_SOURCES} ${UIS_HDRS} ${SRC_MOC_HDRS} ${MY_RESOURCE_FILE_RCC})
246
247
248
249
250
qt5_use_modules(my_GUI Widgets)




251
252
253
add_dependencies(ViconDataPublisher d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(PPSClient d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(SafeControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
254
add_dependencies(CustomControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
255
add_dependencies(CentralManagerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
256
add_dependencies(CircleControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
257
add_dependencies(FollowCrazyflieService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
258
259
260
261

# GUI-- dependencies
add_dependencies(my_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})

262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

bucyril's avatar
bucyril committed
277
278
find_library(VICON_LIBRARY ViconDataStreamSDK_CPP HINTS lib/vicon)

bucyril's avatar
bucyril committed
279
280
target_link_libraries(ViconDataPublisher ${catkin_LIBRARIES})
target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
Philipp Friedli's avatar
Philipp Friedli committed
281

282
283
target_link_libraries(PPSClient ${catkin_LIBRARIES})

bucyril's avatar
bucyril committed
284
285
target_link_libraries(SafeControllerService ${catkin_LIBRARIES})

286
287
target_link_libraries(CustomControllerService ${catkin_LIBRARIES})

bucyril's avatar
bucyril committed
288
289
target_link_libraries(CentralManagerService ${catkin_LIBRARIES})

290
291
target_link_libraries(CircleControllerService ${catkin_LIBRARIES})

292
target_link_libraries(FollowCrazyflieService ${catkin_LIBRARIES})
roangel's avatar
roangel committed
293

294
295
# GUI -- link libraries
target_link_libraries(my_GUI Qt5::Widgets) # GUI -- let my_GUI have acesss to Qt stuff
296
297
target_link_libraries(my_GUI Qt5::Svg)

298
299
300
301
# target_link_libraries(my_library Qt5::Widgets) # GUI -- let my_library have access to Qt stuff
# target_link_libraries(my_GUI my_library)
target_link_libraries(my_GUI ${catkin_LIBRARIES})

302

303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
#############
## 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 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_d_fall_pps.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)