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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(double_sls_controller)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
mavros
mavros_msgs
roscpp
rospy
std_msgs
tf2
tf2_ros
std_msgs
message_generation
dynamic_reconfigure
)
include_directories(
"/usr/include/eigen3"
"~/catkin_ws/src/double_sls_controller/src/DEAController"
"~/catkin_ws/src/double_sls_controller/src/DSLSDEAController"
)
################################################
## Declare ROS messages, services and actions ##
################################################
add_message_files(
FILES
PTStates.msg
ActuatorControl0.msg
AttOut.msg
PendAngle.msg
DSlsState.msg
DEAState.msg
LPFData.msg
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
)
################################################
## 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 exec_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/config.cfg
cfg/DoubleSLSController.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 your 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(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp rospy std_msgs mavros message_runtime
LIBRARIES double_sls_controller
# CATKIN_DEPENDS geometry_msgs mavros mavros_msgs roscpp
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIR}
${Eigen_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME}
src/double_sls_controller.cpp
)
add_dependencies(double_sls_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
add_executable(double_sls_node src/double_sls_node.cpp)
target_link_libraries(double_sls_node ${PROJECT_NAME} ${catkin_LIBRARIES})
add_subdirectory(src/DSLSDEAController)
target_link_libraries(double_sls_node DSLSDEAController)
#############
## 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
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_double_sls_controller.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)