CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(px4_command)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## 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
  message_generation
  roscpp
  geometry_msgs
  sensor_msgs
  mavros
  nav_msgs
  std_msgs
  std_srvs
  tf2_ros
  tf2_eigen
  mavros_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)



################################################
## Declare ROS messages, services and actions ##
################################################

## Generate messages in the 'msg' folder
add_message_files(
  DIRECTORY msg
  FILES
  AuxiliaryState.msg
  AuxiliaryState_singleUAV.msg
  ControlCommand.msg
  TrajectoryPoint.msg
  Trajectory.msg
  AttitudeReference.msg
  DroneState.msg
  Topic_for_log.msg
  ControlOutput.msg
  Mocap.msg
  AddonForce.msg
  FleetStatus.msg
  PayloadPoseCommand.msg
  HomePosition.msg
)

add_service_files(
  FILES
  ControlParameter.srv
  Emergency.srv
  GeneralInfo.srv
  SinglePayloadAction.srv
  MultiPayloadAction.srv
  SetHome.srv
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  geometry_msgs
  sensor_msgs
  std_msgs
  nav_msgs
  geographic_msgs
)

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS  message_runtime
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)


###############################
##     executable list     ##
###############################

##px4_multidrone_pos_controller.cpp
add_executable(px4_multidrone_pos_controller src/px4_multidrone_pos_controller.cpp)
add_dependencies(px4_multidrone_pos_controller px4_command_generate_messages_cpp)
add_dependencies(px4_multidrone_pos_controller px4_command_gencpp)
target_link_libraries(px4_multidrone_pos_controller ${catkin_LIBRARIES})

##px4_multidrone_pos_estimator.cpp
add_executable(px4_multidrone_pos_estimator src/px4_multidrone_pos_estimator.cpp)
add_dependencies(px4_multidrone_pos_estimator px4_command_gencpp)
target_link_libraries(px4_multidrone_pos_estimator ${catkin_LIBRARIES})

##px4_multidrone_pos_estimator_pure_vision.cpp
add_executable(px4_multidrone_pos_estimator_pure_vision src/px4_multidrone_pos_estimator_pure_vision.cpp)
add_dependencies(px4_multidrone_pos_estimator_pure_vision px4_command_gencpp)
target_link_libraries(px4_multidrone_pos_estimator_pure_vision ${catkin_LIBRARIES})

##px4_interdrone_communication.cpp
add_executable(px4_interdrone_communication src/px4_interdrone_communication.cpp)
add_dependencies(px4_interdrone_communication px4_command_gencpp)
target_link_libraries(px4_interdrone_communication ${catkin_LIBRARIES})

##px4_multidrone_pos_estimator_outdoor.cpp
add_executable(px4_multidrone_pos_estimator_outdoor src/px4_multidrone_pos_estimator_outdoor.cpp)
add_dependencies(px4_multidrone_pos_estimator_outdoor px4_command_gencpp)
target_link_libraries(px4_multidrone_pos_estimator_outdoor ${catkin_LIBRARIES})

###### Utilities File ##########

add_executable(set_uav0_mode src/Utilities/set_uav0_mode.cpp)
add_dependencies(set_uav0_mode px4_command_gencpp)
target_link_libraries(set_uav0_mode ${catkin_LIBRARIES})

add_executable(set_uav1_mode src/Utilities/set_uav1_mode.cpp)
add_dependencies(set_uav1_mode px4_command_gencpp)
target_link_libraries(set_uav1_mode ${catkin_LIBRARIES})

add_executable(set_uav2_mode src/Utilities/set_uav2_mode.cpp)
add_dependencies(set_uav2_mode px4_command_gencpp)
target_link_libraries(set_uav2_mode ${catkin_LIBRARIES})

add_executable(outdoorwifitest src/Utilities/outdoorwifitest.cpp)
add_dependencies(outdoorwifitest px4_command_gencpp)
target_link_libraries(outdoorwifitest ${catkin_LIBRARIES})

add_executable(outdoorwifitest_ground src/Utilities/outdoorwifitest_ground.cpp)
add_dependencies(outdoorwifitest_ground px4_command_gencpp)
target_link_libraries(outdoorwifitest_ground ${catkin_LIBRARIES})



###### Application File ##########



#############
## 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
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   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 cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)

## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4_command.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)