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CMakeLists.txt
executable file
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.12)
project(robot_rodeo_gym)
if (POLICY CMP0048) # Disable warning about deprecated command
cmake_policy(SET CMP0048 NEW)
endif (POLICY CMP0048)
add_compile_options(-pthread) # Allow usage of pthread library
find_package(ignition-gazebo6 REQUIRED)
find_package(ignition-common4 REQUIRED)
find_package(ignition-transport9 REQUIRED)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Qt5Widgets_EXECUTABLE_COMPILE_FLAGS}")
find_package(
catkin REQUIRED
COMPONENTS
roscpp
rospy
rqt_gui
rqt_gui_cpp
grid_map_msgs
grid_map_pcl
tf2
tf2_ros
eigen_conversions
message_generation
std_msgs
geometry_msgs
)
find_package(Qt5Widgets REQUIRED)
add_message_files(
DIRECTORY msg
FILES
EntityPose.msg
)
add_service_files(
DIRECTORY srv
FILES
SetEntityPose.srv
SetCameraFollow.srv
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
catkin_package(
LIBRARIES
rqt_score
flipper_control_plugin
CATKIN_DEPENDS
roscpp
rospy
rqt_gui
rqt_gui_cpp
tf2
tf2_ros
eigen_conversions
message_generation
std_msgs
geometry_msgs
message_runtime
)
include_directories(include ${catkin_INCLUDE_DIRS} ${Qt5Widgets_INCLUDES} ${CMAKE_CURRENT_BINARY_DIR})
add_definitions(${Qt5Widgets_DEFINITIONS})
## Ground truth publisher node
add_executable(ground_truth_publisher src/ground_truth_publisher.cpp)
target_link_libraries(ground_truth_publisher ${catkin_LIBRARIES} ignition-transport9::core ignition-msgs6::core)
target_include_directories(ground_truth_publisher PUBLIC ${catkin_INCLUDE_DIRS})
add_dependencies(ground_truth_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(set_entity_pose src/set_entity_pose.cpp)
target_link_libraries(set_entity_pose ${catkin_LIBRARIES} ignition-transport9::core ignition-msgs6::core)
target_include_directories(set_entity_pose PUBLIC ${catkin_INCLUDE_DIRS})
add_dependencies(set_entity_pose ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(crop_pointcloud src/crop_point_cloud.cpp)
target_link_libraries(crop_pointcloud ${catkin_LIBRARIES})
add_dependencies(crop_pointcloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(set_camera_follow src/set_camera_follow.cpp)
target_link_libraries(set_camera_follow ${catkin_LIBRARIES} ignition-transport9::core ignition-msgs6::core)
target_include_directories(set_camera_follow PUBLIC ${catkin_INCLUDE_DIRS})
add_dependencies(set_camera_follow ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Marv unique ##
add_executable(marv_compute_distance_from_ground robots/marv/src/distance_from_ground.cpp)
target_link_libraries(marv_compute_distance_from_ground ${catkin_LIBRARIES})
add_dependencies(marv_compute_distance_from_ground ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(marv_reset_robot robots/marv/src/reset_robot.cpp)
target_link_libraries(marv_reset_robot ${catkin_LIBRARIES})
add_dependencies(marv_reset_robot ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Flipper control plugin for gazebo
add_library(flipper_control_plugin robots/marv/src/flipper_control_plugin.cpp)
target_link_libraries(flipper_control_plugin ignition-gazebo6::core ignition-common4::ignition-common4)
set(rqt_score_HDRS include/robot_rodeo_gym/rqt_score.h)
qt5_wrap_cpp(rqt_score_MOCS ${rqt_score_HDRS})
set(rqt_score_UIS robots/marv/ui/rqt_score.ui)
qt5_wrap_ui(rqt_score_UIS_H ${rqt_score_UIS})
add_library(rqt_score ${rqt_score_MOCS} ${rqt_score_UIS_H} robots/marv/src/rqt_score.cpp)
target_link_libraries(rqt_score ${catkin_LIBRARIES} ${Qt5Widgets_LIBRARIES})
add_dependencies(rqt_score ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(FILES plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(TARGETS rqt_score
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(PROGRAMS robots/marv/scripts/marv_rqt_score
arenas/long_arena/src/long_obstacle_id_publisher.py
arenas/short_arena/src/short_obstacle_id_publisher.py
DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(PROGRAMS robots/marv/scripts/marv_rqt_score
arenas/long_arena/src/long_obstacle_id_publisher.py
arenas/short_arena/src/short_obstacle_id_publisher.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
catkin_install_python(PROGRAMS
arenas/long_arena/src/long_obstacle_id_publisher.py
arenas/short_arena/src/short_obstacle_id_publisher.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)