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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(drone_planner)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
option(COMPILE_MIN_TIME_SERVICE "Compile minimum time service (requires OSQP and ECOS)" FALSE) # TRUE/FALSE
## 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
actionlib_msgs
actionlib
cmake_modules
geometry_msgs
mavros_msgs
message_generation
roscpp
std_msgs
)
find_package(Eigen REQUIRED)
# Find OSQP in case the min time service needs to be compiled
if(COMPILE_MIN_TIME_SERVICE)
find_package(osqp REQUIRED)
endif(COMPILE_MIN_TIME_SERVICE)
add_message_files(DIRECTORY msg FILES
PVA.msg
PVA_4d.msg
)
add_service_files( FILES
trapezoidal_p2p.srv
min_time.srv
publish_pose.srv
)
add_action_files(DIRECTORY action
FILES trapezoidal_p2p.action)
generate_messages(DEPENDENCIES
actionlib_msgs geometry_msgs)
catkin_package(
DEPENDS Eigen
)
###########
## 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}
)
if(COMPILE_MIN_TIME_SERVICE)
# Extra directories to include/link in case we need to compile the
# min time service
include_directories(
dependencies/P4/src
dependencies/TimeOptimizer/src
dependencies/ecos/include
dependencies/ecos/external/ldl/include
dependencies/ecos/external/SuiteSparse_config
)
link_directories( ${PROJECT_SOURCE_DIR}/dependencies/ecos
${PROJECT_SOURCE_DIR}/dependencies/ecos/external/ldl)
add_executable(drone_planner_node src/drone_planner.cpp
src/services_updated.cpp
src/trapezoidal_p2p_action.cpp
src/trapezoidal.cpp
src/visualization_functions.cpp
src/geometry_functions.cpp
src/helper.cpp
src/p4_helper.cpp
src/time_optimizer_class.cpp
dependencies/P4/src/polynomial_solver.cc
dependencies/P4/src/polynomial_sampler.cc
dependencies/TimeOptimizer/src/make_sparse.cpp
dependencies/TimeOptimizer/src/time_optimizer_ecos.cpp
src/pevents.cpp)
target_link_libraries(drone_planner_node osqp::osqp libldl.a libecos.a)
else()
add_executable(drone_planner_node src/drone_planner.cpp
src/services.cpp
src/trapezoidal_p2p_action.cpp
src/trapezoidal.cpp
src/visualization_functions.cpp
src/geometry_functions.cpp
src/helper.cpp
src/pevents.cpp)
endif(COMPILE_MIN_TIME_SERVICE)
target_link_libraries(drone_planner_node ${catkin_LIBRARIES})
#This makes sure that messages and services are compiled before the rest
add_dependencies(drone_planner_node drone_planner_generate_messages_cpp)
add_dependencies(drone_planner_node ${catkin_EXPORTED_TARGETS})
# Compile trapezoidal client example
add_executable(trapezoidal_client examples/trapezoidal_client_example.cpp)
target_link_libraries(trapezoidal_client ${catkin_LIBRARIES})
add_dependencies(trapezoidal_client drone_planner_generate_messages_cpp)
add_dependencies(trapezoidal_client ${catkin_EXPORTED_TARGETS})
# Compile min time client example
add_executable(min_time_client examples/min_time_client_example.cpp
src/helper.cpp)
target_link_libraries(min_time_client ${catkin_LIBRARIES})
add_dependencies(min_time_client drone_planner_generate_messages_cpp)
add_dependencies(min_time_client ${catkin_EXPORTED_TARGETS})
unset(COMPILE_MIN_TIME_SERVICE CACHE)