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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required (VERSION 2.8.11)
project(jsbsim_bridge)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread")
set(JSBSIM_ROOT_DIR "/usr/bin")
set(AIRSIM_ROOT "/home/zimmy/Downloads/AirSim_gcc")
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
find_package(MAVLink)
find_package(Boost 1.58 REQUIRED COMPONENTS system thread filesystem)
find_package(TinyXML REQUIRED)
message(STATUS "${MAVLINK_INCLUDE_DIRS}")
if (NOT JSBSIM_FOUND)
if(DEFINED ENV{JSBSIM_ROOT_DIR} )
set(JSBSIM_ROOT_DIR "$ENV{JSBSIM_ROOT_DIR}" )
endif()
find_path(JSBSIM_INCLUDE_DIR
NAMES
FGFDMExec.h
PATHS
${JSBSIM_ROOT_DIR}/include/JSBSim
/usr/include/JSBSim
/usr/local/include/JSBSim
)
find_library(JSBSIM_LIBRARY
NAMES JSBSim
PATHS
${JSBSIM_ROOT_DIR}/lib
/usr/lib/
/usr/local/lib
)
if (JSBSIM_INCLUDE_DIR AND JSBSIM_LIBRARY)
set(JSBSIM_FOUND TRUE)
endif()
if (NOT JSBSIM_FOUND)
message(FATAL_ERROR "Could not find JSBSIM")
endif()
endif()
find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
# Fallback to cmake_modules
find_package(Eigen QUIET)
if(NOT EIGEN_FOUND)
pkg_check_modules(EIGEN3 REQUIRED eigen3)
else()
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
endif()
else()
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()
add_definitions(-DJSBSIM_ROOT_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
add_definitions(
-Wno-address-of-packed-member # MAVLink annoyances
--warn-uninitialized
)
include_directories(include
${AIRSIM_ROOT}/AirLib/deps/eigen3
${AIRSIM_ROOT}/AirLib/deps/rpclib/include
${AIRSIM_ROOT}/AirLib/include
${AIRSIM_ROOT}/AirLib/deps/MavLinkCom/include)
link_directories(${AIRSIM_ROOT}/AirLib/lib/x64/Release)
add_executable(jsbsim_bridge
src/main.cpp
src/configuration_parser.cpp
src/jsbsim_bridge.cpp
src/geo_mag_declination.cpp
src/mavlink_interface.cpp
src/actuator_plugin.cpp
src/sensor_plugin.cpp
src/sensor_airspeed_plugin.cpp
src/sensor_baro_plugin.cpp
src/sensor_imu_plugin.cpp
src/sensor_gps_plugin.cpp
src/sensor_mag_plugin.cpp
)
target_include_directories(jsbsim_bridge
BEFORE
PUBLIC ${MAVLINK_INCLUDE_DIRS} ${JSBSIM_INCLUDE_DIR} ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS})
target_link_libraries(jsbsim_bridge AirLib rpc MavLinkCom ${JSBSIM_LIBRARY} ${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_TIMER_LIBRARY_RELEASE} ${EIGEN_LIBRARIES} ${TinyXML_LIBRARIES})
# see if catkin was invoked to build this
if (CATKIN_DEVEL_PREFIX)
message(STATUS "catkin ENABLED")
find_package(catkin REQUIRED)
if (catkin_FOUND)
catkin_package()
else()
message(FATAL_ERROR "catkin not found")
endif()
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
mavlink
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES geometric_controller
CATKIN_DEPENDS roscpp rospy std_msgs
)
add_executable(jsbsim_bridge_node
src/jsbsim_bridge_node.cpp
src/jsbsim_bridge_ros.cpp
src/configuration_parser.cpp
src/jsbsim_bridge.cpp
src/geo_mag_declination.cpp
src/mavlink_interface.cpp
src/actuator_plugin.cpp
src/sensor_plugin.cpp
src/sensor_airspeed_plugin.cpp
src/sensor_baro_plugin.cpp
src/sensor_imu_plugin.cpp
src/sensor_gps_plugin.cpp
src/sensor_mag_plugin.cpp
)
target_include_directories(jsbsim_bridge_node
BEFORE
PUBLIC ${catkin_INCLUDE_DIRS} ${MAVLINK_INCLUDE_DIRS} ${JSBSIM_INCLUDE_DIR} ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS}
)
target_link_libraries(jsbsim_bridge_node ${catkin_LIBRARIES} ${JSBSIM_LIBRARY} ${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_TIMER_LIBRARY_RELEASE} ${EIGEN_LIBRARIES} ${TinyXML_LIBRARIES}
)
else()
message(STATUS "catkin DISABLED")
endif()