CMakeLists.txt 14.7 KB
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cmake_minimum_required(VERSION 3.0)
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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
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  message_generation
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  roscpp
  rospy
  std_msgs
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  genmsg
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  rosbag
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  roslib
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  )
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find_package (Eigen3 3.3 REQUIRED NO_MODULE)
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# 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)

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

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# GUI -- Add Qt support
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
find_package(Qt5Gui REQUIRED)
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find_package(Qt5Svg REQUIRED)
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# GUI -- Add src and includes
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set(MY_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
set(MY_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/include)

# StudentGUI -- Add src and includes
set(STUDENT_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/src)
set(STUDENT_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/include)
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# GUI -- Resource file
set(MY_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc)

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# #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)

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# 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
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set(SRC_HDRS_QOBJECT_GUI
  ${MY_GUI_LIB_PATH_INC}/crazyFlyZoneTab.h
  ${MY_GUI_LIB_PATH_INC}/myGraphicsScene.h
  ${MY_GUI_LIB_PATH_INC}/myGraphicsView.h
  ${MY_GUI_LIB_PATH_INC}/mainguiwindow.h
  ${MY_GUI_LIB_PATH_INC}/rosNodeThread.h
  ${MY_GUI_LIB_PATH_INC}/CFLinker.h
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  )
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# GUI -- wrap UI file and QOBJECT files
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qt5_wrap_ui(UIS_HDRS_GUI ${MY_GUI_LIB_PATH_SRC}/mainguiwindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS_GUI ${SRC_HDRS_QOBJECT_GUI})
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# GUI -- wrap resource file qrc->rcc
qt5_add_resources(MY_RESOURCE_FILE_RCC ${MY_RESOURCE_FILE_QRC})

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# StudentGUI -- Special Qt sources that need to be wrapped before being compiled

set(SRC_HDRS_QOBJECT_STUDENT_GUI
  ${STUDENT_GUI_LIB_PATH_INC}/MainWindow.h
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  ${STUDENT_GUI_LIB_PATH_INC}/rosNodeThread.h
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  )

# StudentGUI -- wrap UI file and QOBJECT files
qt5_wrap_ui(UIS_HDRS_STUDENT_GUI ${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS_STUDENT_GUI ${SRC_HDRS_QOBJECT_STUDENT_GUI})


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## 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
# )

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add_message_files(
  FILES
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  UnlabeledMarker.msg
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  CrazyflieData.msg
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  ViconData.msg
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  ControlCommand.msg
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  CrazyflieContext.msg
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  AreaBounds.msg
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  Setpoint.msg
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  CrazyflieEntry.msg
  CrazyflieDB.msg
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  #----------------------------------------------------------------------
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  DebugMsg.msg
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  CustomButton.msg
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)

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## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )
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add_service_files(
  FILES
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  Controller.srv
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  CMRead.srv
  CMQuery.srv
  CMUpdate.srv
  CMCommand.srv
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)
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## 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
# )
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generate_messages(
  DEPENDENCIES
  std_msgs
)
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################################################
## 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(
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  INCLUDE_DIRS include ${MY_GUI_LIB_PATH_INC}            # GUI -- include headers from GUI in package
  INCLUDE_DIRS include ${STUDENT_GUI_LIB_PATH_INC}       # StudentGUI -- include headers from GUI in package
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  LIBRARIES
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  CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
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  DEPENDS
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  )

set(GUROBI_HOME /home/ppsteacher/Downloads/gurobi800/linux64)
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###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
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  ${MY_GUI_LIB_PATH_INC}            # GUI -- include directory inside GUI folder
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  ${STUDENT_GUI_LIB_PATH_INC}       # StudentGUI -- include directory inside GUI folder
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  ${catkin_INCLUDE_DIRS}
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  include
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  include/nodes
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  ${GUROBI_HOME}/include
  )

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find_library(ATOMIC_LIBRARY
  NAMES atomic
  libatomic
  PATHS "/home/ppsteacher/Downloads/libatomic")
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find_library( GUROBI_LIBRARY
  NAMES gurobi
  gurobi45
  gurobi46
  gurobi50
  gurobi51
  gurobi52
  gurobi55
  gurobi56
  gurobi60
  gurobi75
  gurobi80
  libgurobi_c++.a
  libgurobi60.so
  libgurobi80.so
  PATHS "${GUROBI_HOME}/lib"
  )
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find_library( GUROBI_LIBRARY_CXX
  NAMES gurobi_c++
  libgurobi_c++.a
  libgurobi80.so
  PATHS "${GUROBI_HOME}/src/build"
  )

set(GUROBI_LIBRARIES "${GUROBI_LIBRARY};${GUROBI_LIBRARY_CXX}" )

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## Declare a C++ library
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##add_library(${PROJECT_NAME}
##  src/blablalba.cpp
##)
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## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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)
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add_executable(ViconDataPublisher       src/nodes/ViconDataPublisher.cpp)
add_executable(PPSClient                src/nodes/PPSClient.cpp)
add_executable(SafeControllerService    src/nodes/SafeControllerService.cpp)
add_executable(DemoControllerService    src/nodes/DemoControllerService.cpp)
add_executable(StudentControllerService src/nodes/StudentControllerService.cpp)
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add_executable(MpcControllerService     src/nodes/MpcControllerService.cpp src/MPC_functions.cpp)
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add_executable(CentralManagerService    src/nodes/CentralManagerService.cpp src/CrazyflieIO.cpp)
add_executable(ParameterService         src/nodes/ParameterService.cpp)
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# GUI -- Add sources here
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set(MY_CPP_SOURCES_GUI              # compilation of sources
    ${MY_GUI_LIB_PATH_SRC}/mainguiwindow.cpp
    ${MY_GUI_LIB_PATH_SRC}/main.cpp
    ${MY_GUI_LIB_PATH_SRC}/cornergrabber.cpp
    ${MY_GUI_LIB_PATH_SRC}/crazyFlyZone.cpp
    ${MY_GUI_LIB_PATH_SRC}/crazyFlyZoneTab.cpp
    ${MY_GUI_LIB_PATH_SRC}/myGraphicsRectItem.cpp
    ${MY_GUI_LIB_PATH_SRC}/myGraphicsScene.cpp
    ${MY_GUI_LIB_PATH_SRC}/myGraphicsView.cpp
    ${MY_GUI_LIB_PATH_SRC}/tablePiece.cpp
    ${MY_GUI_LIB_PATH_SRC}/marker.cpp
    ${MY_GUI_LIB_PATH_SRC}/rosNodeThread.cpp
    ${MY_GUI_LIB_PATH_SRC}/crazyFly.cpp
    ${MY_GUI_LIB_PATH_SRC}/CFLinker.cpp
    ${MY_GUI_LIB_PATH_SRC}/channelLUT.cpp
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    ${MY_GUI_LIB_PATH_SRC}/centerMarker.cpp
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    )

# StudentGUI -- Add sources here
set(MY_CPP_SOURCES_STUDENT_GUI              # compilation of sources
    ${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.cpp
    ${STUDENT_GUI_LIB_PATH_SRC}/main.cpp
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    ${STUDENT_GUI_LIB_PATH_SRC}/rosNodeThread.cpp
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    )

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# GUI -- Add executables here
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add_executable(my_GUI ${MY_CPP_SOURCES_GUI} ${UIS_HDRS_GUI} ${SRC_MOC_HDRS_GUI} ${MY_RESOURCE_FILE_RCC})
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qt5_use_modules(my_GUI Widgets)

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# StudentGUI -- Add executables here
add_executable(student_GUI ${MY_CPP_SOURCES_STUDENT_GUI} ${UIS_HDRS_STUDENT_GUI} ${SRC_MOC_HDRS_STUDENT_GUI})
qt5_use_modules(student_GUI Widgets)
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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})
add_dependencies(DemoControllerService    d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(StudentControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(MpcControllerService     d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(CentralManagerService    d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(ParameterService         d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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# GUI-- dependencies
add_dependencies(my_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})

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# StudentGUI-- dependencies
add_dependencies(student_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})

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## 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}
# )

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find_library(VICON_LIBRARY ViconDataStreamSDK_CPP HINTS lib/vicon)

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target_link_libraries(ViconDataPublisher ${catkin_LIBRARIES})
target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
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target_link_libraries(PPSClient                ${catkin_LIBRARIES})
target_link_libraries(SafeControllerService    ${catkin_LIBRARIES})
target_link_libraries(DemoControllerService    ${catkin_LIBRARIES})
target_link_libraries(StudentControllerService ${catkin_LIBRARIES})
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target_link_libraries(MpcControllerService     ${catkin_LIBRARIES} Eigen3::Eigen ${GUROBI_LIBRARIES} ${ATOMIC_LIBRARY})
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target_link_libraries(CentralManagerService    ${catkin_LIBRARIES})
target_link_libraries(ParameterService         ${catkin_LIBRARIES})
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# GUI -- link libraries
target_link_libraries(my_GUI Qt5::Widgets) # GUI -- let my_GUI have acesss to Qt stuff
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target_link_libraries(my_GUI Qt5::Svg)

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# 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})

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# StudentGUI -- link libraries
target_link_libraries(student_GUI Qt5::Widgets) # GUI -- let my_GUI have acesss to Qt stuff
target_link_libraries(student_GUI ${catkin_LIBRARIES})

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# set (CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -stdlib=libstdc++")
set (CMAKE_SHARED_LINKER_FLAGS "-lgurobi_c++ -lgurobi80, --as-needed")
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#############
## 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)