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R1517/CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(test_package)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
set(CMAKE_MODULE_PATH /usr/local/share/cmake/Modules/)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH};${PROJECT_SOURCE_DIR}/cmake)
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation
geometry_msgs sensor_msgs roslint tf2_ros
visualization_msgs serial)
find_package(VRPN REQUIRED)
find_package(CASADI REQUIRED)
find_package(yaml-cpp 0.5.3 REQUIRED)
if(APPLE)
##Due to warnings raised in CasADi
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -O3")
set(YAML_CPP_LIBS /usr/local/lib/libyaml-cpp.0.5.3.dylib)
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -O3")
set(YAML_CPP_LIBS yaml-cpp)
endif()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror")
set(CMAKE_VERBOSE_MAKEFILE “ON”)
set(CMAKE_BUILD_TYPE "Debug")
#detect 32bit system
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
message(STATUS "Target architecture 64 bits")
else()
message(STATUS "Target architecture 32 bits")
endif()
#if(ARM_ENABLE_VECTORIZATION AND ${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm" )
# message(STATUS "EIGEN: ARM VECTORIZATION ENABLED")
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
#endif()
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## 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(DIRECTORY msg FILES aircraft_controls.msg
mpc_diagnostic.msg)
## Generate services in the 'srv' folder
add_service_files(DIRECTORY srv FILES simple.srv )
## 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 sensor_msgs geometry_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 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(
CATKIN_DEPENDS message_runtime
INCLUDE_DIRS src/kite_model src/kite_control src/kite_estimation src/nodes
# LIBRARIES test_package
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(src/kite_model src/nodes src/kite_control src/kite_estimation src/kite_math
${catkin_INCLUDE_DIRS} ${VRPN_INCLUDE_DIR} ${CASADI_INCLUDE_DIR} ${YAML_CPP_INCLUDE_DIR})
## Declare a C++ library
#add_library(opt_ctl src/${PROJECT_NAME}/test_package.cpp )
## 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(test_package ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
add_executable(casadi_test src/casadi_test.cpp)
#add_executable(lidar_driver src/lidar_driver.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(test_package_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(casadi_test ${CASADI_LIBRARIES} ${YAML_CPP_LIBS} ${catkin_LIBRARIES})
#target_link_libraries(lidar_driver ${catkin_LIBRARIES})
add_subdirectory(src/kite_model)
add_subdirectory(src/kite_control)
add_subdirectory(src/kite_estimation)
add_subdirectory(src/kite_math)
add_subdirectory(src/nodes)
#############
## 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
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables and/or libraries for installation
install(TARGETS casadi_test
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_test_package.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)
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