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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(px4_code2)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
set(CMAKE_BUILD_TYPE debug)
set(CMAKE_CXX_FLAGS -fPIC)
## Include qpOASES
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
find_package(qpOASES REQUIRED)
message( "cmake module path : ${CMAKE_MODULE_PATH}")
## ROS
find_package(catkin REQUIRED COMPONENTS
mavros roscpp geometry_msgs message_generation tf nav_msgs rqt_gui rqt_gui_cpp
px4_code2_msgs
)
if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
find_package(Qt5Widgets REQUIRED)
else()
find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
include(${QT_USE_FILE})
endif()
set(CMAKE_AUTORCC true) # to include qt resource collection
set(CMAKE_INCLUDE_CURRENT_DIR ON) # This finds ui_*.h
catkin_package(
)
## Client QT and RQT
set(QT_SRC resource/gcs_widget/widget.cpp resource/gcs_rqt/gcs_plugin.cpp)
if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
qt5_wrap_cpp(QT_MOCS resource/gcs_widget/widget.h resource/gcs_rqt/gcs_plugin.h include/traj_gen/TrajGen.hpp)
qt5_wrap_ui(QT_UIS_H resource/gcs_widget/widget.ui)
qt5_add_resources(resource/gcs_widget/img.qrc)
else()
qt4_wrap_cpp(QT_MOCS resource/gcs_widget/widget.h resource/gcs_rqt/gcs_plugin.h include/traj_gen/TrajGen.hpp)
qt4_wrap_ui(QT_UIS_H resource/gcs_widget/widget.ui)
qt4_add_resources(resource/gcs_widget/img.qrc)
endif()
include_directories(
include resource
${catkin_INCLUDE_DIRS}
)
#########################
## CLIENT ##
#########################
message("${RQT_SRC}")
add_library(${PROJECT_NAME} ${QT_MOCS} ${QT_SRC} ${QT_UIS_H} src/server.cpp src/utils/utility.cpp resource/gcs_widget/img.qrc include/traj_gen/TrajGen.hpp)
if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
target_link_libraries(${PROJECT_NAME} Qt5::Widgets ${catkin_LIBRARIES} ${qpOASES_LIB})
else()
target_link_libraries(${PROJECT_NAME} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} ${catkin_LIBRARIES} ${qpOASES_LIB})
endif()
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(FILES plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#########################
## SERVER ##
#########################
add_executable(server_node src/exe/server_node.cpp src/server.cpp src/utils/utility.cpp )
target_link_libraries(server_node ${catkin_LIBRARIES} ${qpOASES_LIB})