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Copy pathCMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(freefloating_gazebo)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_BUILD_TYPE Debug)
find_package(gazebo)
if(gazebo_FOUND)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
std_srvs
gazebo_msgs
geometry_msgs
sensor_msgs
urdf
control_toolbox
rostime
nav_msgs
message_generation
)
else()
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
std_srvs
geometry_msgs
sensor_msgs
urdf
control_toolbox
rostime
nav_msgs
message_generation
)
endif()
find_package(Eigen3)
if(NOT EIGEN3_FOUND)
# Fallback to cmake_modules
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
else()
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()
add_service_files(
FILES
ControlType.srv
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
roscpp
std_msgs
std_srvs
gazebo_msgs
geometry_msgs
sensor_msgs
control_toolbox
rostime
nav_msgs
message_runtime
)
include_directories(include ${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS})
add_library(freefloating_gazebo
include/freefloating_gazebo/butterworth.h
include/freefloating_gazebo/hydro_link.h src/hydro_link.cpp
include/freefloating_gazebo/hydro_model_parser.h src/hydro_model_parser.cpp
include/freefloating_gazebo/thruster_allocator.h src/thruster_allocator.cpp)
target_link_libraries(freefloating_gazebo ${catkin_LIBRARIES})
# node to perform PID control for body (thrusters) and joints
add_executable(pid_control src/freefloating_pids_main.cpp
include/freefloating_gazebo/butterworth.h
src/freefloating_pids.cpp include/freefloating_gazebo/freefloating_pids.h
src/freefloating_pids_body.cpp include/freefloating_gazebo/freefloating_pids_body.h
src/freefloating_pids_joint.cpp include/freefloating_gazebo/freefloating_pids_joint.h)
target_link_libraries(pid_control ${catkin_LIBRARIES} ${PROJECT_NAME})
add_dependencies(pid_control ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_dependencies(pid_control freefloating_gazebo_gencpp)
if(gazebo_FOUND)
link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(${GAZEBO_INCLUDE_DIRS})
# world plugin to simulate buoyancy and viscous force
add_library(freefloating_gazebo_fluid src/freefloating_gazebo_fluid.cpp include/freefloating_gazebo/freefloating_gazebo_fluid.h)
target_link_libraries(freefloating_gazebo_fluid ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
# model plugin subscribes to body and joint efforts and applies them in Gazebo
add_library(freefloating_gazebo_control src/freefloating_gazebo_control.cpp
include/freefloating_gazebo/freefloating_gazebo_control.h)
target_link_libraries(freefloating_gazebo_control ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${PROJECT_NAME})
install(TARGETS freefloating_gazebo_fluid
freefloating_gazebo_control
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY world
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
# test Butterworth filter
add_executable(butter test/testButter.cpp)
target_link_libraries(butter ${catkin_LIBRARIES})
# test thruster mapper
add_executable(sdf_parse test/sdf_parse.cpp)
target_link_libraries(sdf_parse ${catkin_LIBRARIES} ${catkin_LIBRARIES} ${PROJECT_NAME})
endif()
install(TARGETS pid_control ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(DIRECTORY scripts
srv
gui
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})