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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
project(ardupilot_gazebo)
# --------------------------------------------------------------------------- #
# If ament_cmake is found build as an ament package, otherwise ignore.
# This is so the system may be built for Gazebo only, if ROS is not available.
find_package(ament_cmake QUIET)
if(${ament_cmake_FOUND})
message("Building ${PROJECT_NAME} as an `ament_cmake` project.")
endif()
# --------------------------------------------------------------------------- #
# Compile as C++14.
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# --------------------------------------------------------------------------- #
# Find gz-sim and dependencies.
# Harmonic (default)
if("$ENV{GZ_VERSION}" STREQUAL "harmonic" OR NOT DEFINED "ENV{GZ_VERSION}")
find_package(gz-cmake3 REQUIRED)
set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
gz_find_package(gz-common5 REQUIRED)
set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
gz_find_package(gz-rendering8 REQUIRED)
set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
gz_find_package(gz-sim8 REQUIRED)
set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
message(STATUS "Compiling against Gazebo Harmonic")
# Garden
elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
find_package(gz-cmake3 REQUIRED)
set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
gz_find_package(gz-common5 REQUIRED)
set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
gz_find_package(gz-rendering7 REQUIRED)
set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR})
gz_find_package(gz-sim7 REQUIRED)
set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
message(STATUS "Compiling against Gazebo Garden")
else()
message(FATAL_ERROR "Unsupported GZ_VERSION: $ENV{GZ_VERSION}")
endif()
# --------------------------------------------------------------------------- #
find_package(RapidJSON REQUIRED)
find_package(OpenCV REQUIRED)
pkg_check_modules(GST REQUIRED gstreamer-1.0 gstreamer-app-1.0)
# --------------------------------------------------------------------------- #
# Build plugin.
add_library(ArduPilotPlugin
SHARED
src/ArduPilotPlugin.cc
src/Socket.cpp
src/Util.cc
)
target_include_directories(ArduPilotPlugin PRIVATE
include
)
target_link_libraries(ArduPilotPlugin PRIVATE
gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
)
add_library(ParachutePlugin
SHARED
src/ParachutePlugin.cc
)
target_include_directories(ParachutePlugin PRIVATE
include
)
target_link_libraries(ParachutePlugin PRIVATE
gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
)
add_library(CameraZoomPlugin
SHARED
src/CameraZoomPlugin.cc
)
target_include_directories(CameraZoomPlugin PRIVATE
include
)
target_link_libraries(CameraZoomPlugin PRIVATE
gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
)
add_library(GstCameraPlugin
SHARED
src/GstCameraPlugin.cc
)
target_include_directories(GstCameraPlugin PRIVATE
include
${OpenCV_INCLUDE_DIRS}
${GST_INCLUDE_DIRS}
)
target_link_libraries(GstCameraPlugin PRIVATE
gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
${OpenCV_LIBS}
${GST_LINK_LIBRARIES}
)
# --------------------------------------------------------------------------- #
# Install.
install(
TARGETS
ArduPilotPlugin
ParachutePlugin
CameraZoomPlugin
GstCameraPlugin
DESTINATION lib/${PROJECT_NAME}
)
install(
DIRECTORY
config/
DESTINATION share/${PROJECT_NAME}/config
)
install(
DIRECTORY
models/
DESTINATION share/${PROJECT_NAME}/models
)
install(
DIRECTORY
worlds/
DESTINATION share/${PROJECT_NAME}/worlds
)
# --------------------------------------------------------------------------- #
# Register as an ament package if ament_cmake is available.
if(${ament_cmake_FOUND})
ament_environment_hooks(
"${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
ament_environment_hooks(
"${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")
ament_package()
endif()