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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(spider_plugins)
## 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
std_msgs
std_srvs
geometry_msgs
nav_msgs
tf
dynamic_reconfigure
crab_msgs)
include_directories(include ${catkin_INCLUDE_DIRS})
## Javi patche
set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} " -std=c++11")
## Find gazebo
find_package(gazebo REQUIRED)
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
## Find Boost
find_package(Boost REQUIRED COMPONENTS thread)
include_directories(${Boost_INCLUDE_DIRS})
#######################################
## Declare ROS messages and services ##
#######################################
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# )
## Generate services in the 'srv' folder
add_service_files(
FILES
SetBias.srv
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES geometry_msgs
)
#add dynamic reconfigure api
generate_dynamic_reconfigure_options(
cfg/SensorModel.cfg
cfg/GNSS.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(
DEPENDS gazebo
CATKIN_DEPENDS roscpp std_msgs geometry_msgs nav_msgs tf
INCLUDE_DIRS include
LIBRARIES
)
###########
## Build ##
###########
add_library(polstro src/PolstroSerialInterface.cpp src/PolstroSerialInterfacePOSIX.cpp)
target_link_libraries(polstro ${catkin_LIBRARIES})
add_library(diffdrive_plugin_18servos SHARED src/diffdrive_plugin_18servos.cpp)
target_link_libraries(diffdrive_plugin_18servos polstro ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
#add_library(hector_gazebo_reset_plugin src/reset_plugin.cpp)
#target_link_libraries(hector_gazebo_reset_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
#add_library(hector_gazebo_ros_imu src/gazebo_ros_imu.cpp)
#target_link_libraries(hector_gazebo_ros_imu ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
#add_dependencies(hector_gazebo_ros_imu ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
#add_library(hector_gazebo_ros_magnetic src/gazebo_ros_magnetic.cpp)
#target_link_libraries(hector_gazebo_ros_magnetic ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
#add_dependencies(hector_gazebo_ros_magnetic ${PROJECT_NAME}_gencfg)
#add_library(hector_gazebo_ros_gps src/gazebo_ros_gps.cpp)
#target_link_libraries(hector_gazebo_ros_gps ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
#add_dependencies(hector_gazebo_ros_gps ${PROJECT_NAME}_gencfg)
#add_library(hector_gazebo_ros_sonar src/gazebo_ros_sonar.cpp)
#target_link_libraries(hector_gazebo_ros_sonar ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
#add_dependencies(hector_gazebo_ros_sonar ${PROJECT_NAME}_gencfg)
#add_library(hector_servo_plugin src/servo_plugin.cpp)
#target_link_libraries(hector_servo_plugin ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
install(TARGETS
diffdrive_plugin_18servos
#hector_gazebo_reset_plugin
#hector_gazebo_ros_imu
#hector_gazebo_ros_magnetic
#hector_gazebo_ros_gps
#hector_gazebo_ros_sonar
#hector_servo_plugin
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)