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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(mission_planner)
## 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
roscpp
std_msgs
tf
mavros_msgs
mg_msgs
px4_control
mav_trajectory_generation_ros
p4_ros
mapper
)
find_package(Eigen REQUIRED)
###################################
## catkin specific configuration ##
###################################
catkin_package(
DEPENDS Eigen
mg_msgs
mapper
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
${Eigen_INCLUDE_DIRS}
)
# Simulation inspection node
add_executable(inspector_node
src/nodes/mission_node.cpp
src/inspection_class.cpp
src/mission_class.cpp
src/drone_threads.cpp
src/helper.cpp
src/callbacks.cpp
src/visualization_functions.cpp)
target_link_libraries(inspector_node ${catkin_LIBRARIES})
add_dependencies(inspector_node mavros_msgs_generate_messages_cpp mg_msgs_gencpp
mapper_gencpp mav_trajectory_generation_ros_gencpp ${catkin_EXPORTED_TARGETS}
${mg_msgs_EXPORTED_TARGETS})
# Rover inspection node
add_executable(vicon_rover_inspection
src/nodes/mission_node.cpp
src/vicon_rover_inspection.cpp
src/mission_class.cpp
src/drone_threads.cpp
src/helper.cpp
src/callbacks.cpp
src/visualization_functions.cpp)
target_link_libraries(vicon_rover_inspection ${catkin_LIBRARIES})
add_dependencies(vicon_rover_inspection mavros_msgs_generate_messages_cpp mg_msgs_gencpp
mapper_gencpp mav_trajectory_generation_ros_gencpp ${catkin_EXPORTED_TARGETS}
${mg_msgs_EXPORTED_TARGETS})
# Mapper inspection node
add_executable(mapper_inspection
src/nodes/mapper_node.cpp
src/mapper_inspection_class.cpp
src/mission_class.cpp
src/drone_threads.cpp
src/helper.cpp
src/callbacks.cpp
src/visualization_functions.cpp)
target_link_libraries(mapper_inspection ${catkin_LIBRARIES})
add_dependencies(mapper_inspection mavros_msgs_generate_messages_cpp mg_msgs_gencpp
mapper_gencpp mav_trajectory_generation_ros_gencpp ${catkin_EXPORTED_TARGETS}
${mg_msgs_EXPORTED_TARGETS})
# Swarm inspection node
add_executable(vicon_swarm_inspection
src/nodes/swarm_mission_node.cpp
src/vicon_swarm_inspection.cpp
src/mission_class.cpp
src/drone_threads.cpp
src/rover_mission_class.cpp
src/rover_threads.cpp
src/helper.cpp
src/callbacks.cpp
src/polynomials.cpp
src/visualization_functions.cpp)
target_link_libraries(vicon_swarm_inspection ${catkin_LIBRARIES})
add_dependencies(vicon_swarm_inspection mavros_msgs_generate_messages_cpp mg_msgs_gencpp
mapper_gencpp mav_trajectory_generation_ros_gencpp ${catkin_EXPORTED_TARGETS}
${mg_msgs_EXPORTED_TARGETS})
# Collision Avoidance nodes
add_executable(collision_avoidance_fixed_map
src/nodes/collision_avoidance_fixed_map_node.cpp
src/collision_avoidance_fixed_map.cpp
src/mission_class.cpp
src/drone_threads.cpp
src/helper.cpp
src/callbacks.cpp
src/polynomials.cpp
src/visualization_functions.cpp)
target_link_libraries(collision_avoidance_fixed_map ${catkin_LIBRARIES})
add_dependencies(collision_avoidance_fixed_map mavros_msgs_generate_messages_cpp mg_msgs_gencpp
mapper_gencpp mav_trajectory_generation_ros_gencpp ${catkin_EXPORTED_TARGETS}
${mg_msgs_EXPORTED_TARGETS})
add_executable(collision_avoidance
src/nodes/collision_avoidance_node.cpp
src/collision_avoidance.cpp
src/mission_class.cpp
src/drone_threads.cpp
src/helper.cpp
src/callbacks.cpp
src/polynomials.cpp
src/visualization_functions.cpp)
target_link_libraries(collision_avoidance ${catkin_LIBRARIES})
add_dependencies(collision_avoidance mavros_msgs_generate_messages_cpp mg_msgs_gencpp
mapper_gencpp mav_trajectory_generation_ros_gencpp ${catkin_EXPORTED_TARGETS}
${mg_msgs_EXPORTED_TARGETS})