CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(racing_drone)

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

#set(OpenCV_DIR "/usr/local/lib/cmake/opencv4")

## 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
  geometry_msgs
  #mavros_msgs
  nav_msgs
  roscpp
  rospy
  sensor_msgs
  std_msgs
  tf
  cv_bridge
  message_generation
)

find_package(OpenCV REQUIRED )
#find_package(genmsg REQUIRED)
#find_package(geometry_msgs REQUIRED)
#find_package(std_msgs REQUIRED)
#find_package(nav_msgs REQUIRED)

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


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

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

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   DroneState.msg
 )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

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

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  #INCLUDE_DIRS include/racing_drone
  #LIBRARIES racing_drone
  CATKIN_DEPENDS message_runtime geometry_msgs nav_msgs roscpp rospy sensor_msgs std_msgs 
  #DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations

include_directories(
  include
  ${OpenCV_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
  /usr/local/include
)


## Declare a C++ library

  add_library(common
  src/common.cpp
  )

  add_library(state_estimator_core
  src/state_estimator_core.cpp
  )

  add_library(kalman_filter
  src/KalmanFilter.cpp
  )

  add_library(controller_core
  src/controller_core.cpp
  ) 

  add_library(mpc
  src/MPC.cpp
  )

  add_library(maf
  src/MovAvgFilter.cpp
  )
  add_library(pid
  src/PID.cpp
  )

  add_library(gate_detector_class
  src/GateDetector.cpp
  )

  add_library(gate_detector_core
  src/gate_detector_core.cpp
  )

  add_library(localizer_core
  src/localizer_core.cpp
  )

  add_library(localizer2_core
  src/localizer2_core.cpp
  )

  add_library(state_machine_core
  src/state_machine_core.cpp
  )




## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
#add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide

 add_executable(state_estimator src/state_estimator.cpp)

 add_executable(controller src/controller.cpp)

 add_executable(gate_detector src/gate_detector.cpp)

 add_executable(camera src/camera.cpp)

 add_executable(localizer src/localizer.cpp)  
 
 add_executable(localizer2 src/localizer2.cpp) 

 add_executable(state_machine src/state_machine.cpp) 

 add_executable(pd_controller src/pd_controller.cpp) 
 
 #add_dependencies(state_estimator racing_drone_generate_messages_cpp)
 #add_dependencies(controller racing_drone_generate_messages_cpp)
 #add_dependencies(localizer racing_drone_generate_messages_cpp)
 #add_dependencies(localizer2 racing_drone_generate_messages_cpp)
 #add_dependencies(state_machine racing_drone_generate_messages_cpp)
 #add_dependencies(pd_controller racing_drone_generate_messages_cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against

 target_link_libraries(
 	state_estimator
 	state_estimator_core
 	kalman_filter
  common
  ${catkin_LIBRARIES}
 )
 
  target_link_libraries(
  controller
  controller_core
  mpc
  pid
  common
  /usr/local/lib/libnlopt.so
  ${catkin_LIBRARIES}
  )

  target_link_libraries(
 	localizer
  localizer_core
  common
  ${catkin_LIBRARIES}
  )

  target_link_libraries(
 	localizer2
  localizer2_core
  maf
  common
  ${catkin_LIBRARIES}
  )

  target_link_libraries(
  gate_detector
  gate_detector_core
  gate_detector_class
  kalman_filter
  maf
  common
  ${OpenCV_LIBS}
  ${catkin_LIBRARIES}
  )

  target_link_libraries(
  camera
  common
  ${OpenCV_LIBS}
  ${catkin_LIBRARIES}
  )

  target_link_libraries(
  state_machine
  state_machine_core
  common
  ${catkin_LIBRARIES}
  )

  target_link_libraries(
  pd_controller
  pid
  common
  ${catkin_LIBRARIES}
  )



#############
## 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 for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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 other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

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

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