CMakeLists.txt

cmake_minimum_required(VERSION 3.2.2)
project(sjtu_drone)

## 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 
    roscpp
    rospy
    std_msgs
    sensor_msgs
    image_transport
    message_generation)

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



include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
    pkg_check_modules(OGRE OGRE)
    pkg_check_modules(OGRE-Terrain OGRE-Terrain)
endif()


link_directories(${GAZEBO_LIBRARY_DIRS} ${Boost_LIBRARIES} ${PROTOBUF_LIBRARIES} ${OGRE_LIBRARY_DIRS})
include_directories(${OpenCV_INCLUDE_DIR} 
                    ${Boost_INCLUDE_DIR}
                    ${catkin_INCLUDE_DIRS}
                    ${GAZEBO_INCLUDE_DIRS}
                    ${OGRE_INCLUDE_DIRS}
                    ${OGRE-Terrain_INCLUDE_DIRS}
                    include)


set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")

###################################
catkin_package(
   INCLUDE_DIRS include
   CATKIN_DEPENDS roscpp rospy image_transport std_msgs sensor_msgs geometry_msgs message_runtime gazebo_ros
)

################# 1. A system plugin for gazebo to initialize ROS  #############
add_library( plugin_ros_init SHARED
    src/plugin_ros_init.cpp
)
target_link_libraries( plugin_ros_init 
   ${catkin_LIBRARIES}
   ${GAZEBO_LIBRARIES}
   ${OGRE_LIBRARY_DIRS}
)

set_target_properties( plugin_ros_init
    PROPERTIES 
    LIBRARY_OUTPUT_DIRECTORY
    ${PROJECT_SOURCE_DIR}/plugins
)

################## 2. A simple model controller for the quadrotor #############
add_library( plugin_drone SHARED
    src/plugin_drone.cpp
    src/pid_controller.cpp
    include/plugin_drone.h
    include/pid_controller.h
)

target_link_libraries( plugin_drone
   ${catkin_LIBRARIES}
   ${GAZEBO_LIBRARIES}
)

set_target_properties( plugin_drone
    PROPERTIES 
    LIBRARY_OUTPUT_DIRECTORY
    ${PROJECT_SOURCE_DIR}/plugins
)

################## 3. A IMU sensor plugin for the quadrotor ####################
add_library( plugin_ros_imu SHARED
    src/plugin_ros_imu_native.cpp
    include/plugin_ros_imu_native.h
)


target_link_libraries( plugin_ros_imu
    ${catkin_LIBRARIES}
    ${GAZEBO_LIBRARIES}
)

set_target_properties( plugin_ros_imu
    PROPERTIES
    LIBRARY_OUTPUT_DIRECTORY
    ${PROJECT_SOURCE_DIR}/plugins
)

################# 4. A  sensor plugin for the camera  #########################
add_library( plugin_ros_cam SHARED
    src/plugin_ros_cam.cpp
    src/util_ros_cam.cpp
    include/plugin_ros_cam.h
    include/util_ros_cam.h
)
target_link_libraries( plugin_ros_cam
   ${catkin_LIBRARIES}
   ${GAZEBO_LIBRARIES}
   ${OGRE_LIBRARY_DIRS}
   CameraPlugin
)

set_target_properties( plugin_ros_cam
    PROPERTIES 
    LIBRARY_OUTPUT_DIRECTORY
    ${PROJECT_SOURCE_DIR}/plugins
)

################# 5. A program using the keyboard to control the quadrotor #####  
set(CMAKE_AUTOUIC ON)

find_package(Qt5 COMPONENTS Widgets REQUIRED)
set(QT_LIBRARIES Qt5::Widgets)

qt5_wrap_cpp(QT_MOC include/DialogKeyboard.h)
qt5_add_resources(RESOURCES include/drone_keyboard.qrc)


add_executable( drone_keyboard
  src/DialogKeyboard.cpp
  src/drone_object_ros.cpp
  src/drone_keyboard.cpp
  ${RESOURCES}
  ${QT_MOC}
)

target_link_libraries( drone_keyboard
  ${QT_LIBRARIES}
  ${catkin_LIBRARIES}
)

################## 7. A sonar sensor plugin for the quadrotor ####################
add_library( plugin_ros_sonar SHARED
    src/plugin_ros_sonar.cpp
    include/plugin_ros_sonar.h
)

target_link_libraries( plugin_ros_sonar
    ${catkin_LIBRARIES}
    ${GAZEBO_LIBRARIES}
)

set_target_properties( plugin_ros_sonar
    PROPERTIES
    LIBRARY_OUTPUT_DIRECTORY
    ${PROJECT_SOURCE_DIR}/plugins
)

################## 8. A laser sensor plugin for the quadrotor ####################
#add_library( plugin_ros_laser SHARED
#    src/plugin_ros_laser.cpp
#    include/plugin_ros_laser.h
#)

#target_link_libraries( plugin_ros_laser
#    ${catkin_LIBRARIES}
#    ${GAZEBO_LIBRARIES}
#)

#set_target_properties( plugin_ros_laser
#    PROPERTIES
#    LIBRARY_OUTPUT_DIRECTORY
#    ${PROJECT_SOURCE_DIR}/plugins
#)

install(DIRECTORY bin
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY include
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
  
install(DIRECTORY meshes
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY models
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY plugins
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
  
install(DIRECTORY scripts
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY src
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY worlds
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
  


find_package(PCL 1.2 REQUIRED)

include_directories(${catkin_LIBRARIES} ${PCL_INCLUDE_DIRS}  /usr/include/pcl-1.10/ /usr/include/eigen3/) 
# include_directories(/usr/include/pcl-1.10 /usr/include/eigen3 ${PCL_INCLUDE_DIRS}) 

link_directories( ${PCL_LIBRARY_DIRS}) 
# link_directories(/usr/lib/x86_64-linux-gnu ${PCL_LIBRARY_DIRS}) 

add_definitions(${PCL_DEFINITIONS})


add_executable(listener scripts/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES} ${PCL_LIBRARIES} /usr/include/pcl-1.10/ /usr/include/eigen3/)