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fix: catkin build bugs #186

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fix: catkin build bugs #186

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48 changes: 23 additions & 25 deletions fast_planner/bspline_opt/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,39 +8,37 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall")

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)

set(NLOPT_INCLUDE_DIR "/usr/local/include")
set(NLOPT_LIBRARY "/usr/local/lib/libnlopt.so")
find_package(NLopt REQUIRED)

find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
visualization_msgs
cv_bridge
plan_env
roscpp
rospy
std_msgs
visualization_msgs
cv_bridge
plan_env
)

catkin_package(
INCLUDE_DIRS include
LIBRARIES bspline_opt
CATKIN_DEPENDS plan_env
# DEPENDS system_lib
INCLUDE_DIRS include
LIBRARIES bspline_opt
CATKIN_DEPENDS plan_env
# DEPENDS system_lib
)

include_directories(
SYSTEM
include
include_directories(
SYSTEM
include
${catkin_INCLUDE_DIRS}
${Eigen3_INCLUDE_DIRS}
${Eigen3_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${NLOPT_INCLUDE_DIR}
${NLOPT_INCLUDE_DIRS}
)

add_library( bspline_opt
src/bspline_optimizer.cpp
)
target_link_libraries( bspline_opt
${catkin_LIBRARIES}
${NLOPT_LIBRARY}
)
add_library(bspline_opt
src/bspline_optimizer.cpp
)
target_link_libraries(bspline_opt
${catkin_LIBRARIES}
${NLOPT_LIBRARY}
)
23 changes: 13 additions & 10 deletions fast_planner/plan_manage/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)
find_package(NLopt REQUIRED)

find_package(catkin REQUIRED COMPONENTS
roscpp
Expand All @@ -27,8 +28,8 @@ find_package(catkin REQUIRED COMPONENTS
add_message_files(
FILES
Bspline.msg
)
)

# Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
Expand All @@ -38,10 +39,10 @@ generate_messages(

# catkin_package(CATKIN_DEPENDS message_runtime)
catkin_package(
INCLUDE_DIRS include
LIBRARIES plan_manage
CATKIN_DEPENDS plan_env path_searching bspline bspline_opt traj_utils message_runtime
# DEPENDS system_lib
INCLUDE_DIRS include
LIBRARIES plan_manage
CATKIN_DEPENDS plan_env path_searching bspline bspline_opt traj_utils message_runtime
# DEPENDS system_lib
)

include_directories(
Expand All @@ -50,18 +51,20 @@ include_directories(
${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
${NLOPT_INCLUDE_DIRS}
)


add_executable(fast_planner_node
src/fast_planner_node.cpp
src/fast_planner_node.cpp
src/kino_replan_fsm.cpp
src/topo_replan_fsm.cpp
src/planner_manager.cpp
)
target_link_libraries(fast_planner_node
)
target_link_libraries(fast_planner_node
${catkin_LIBRARIES}
)
${NLOPT_LIBRARIES}
)

add_executable(traj_server src/traj_server.cpp)
target_link_libraries(traj_server ${catkin_LIBRARIES})
Expand Down
35 changes: 17 additions & 18 deletions uav_simulator/Utils/multi_map_server/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -43,17 +43,17 @@ project(multi_map_server)
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
pose_utils
message_generation
roscpp
visualization_msgs
tf
std_srvs
laser_geometry
pose_utils
quadrotor_msgs
geometry_msgs
nav_msgs
pose_utils
message_generation
roscpp
visualization_msgs
tf
std_srvs
laser_geometry
pose_utils
quadrotor_msgs
)

## System dependencies are found with CMake's conventions
Expand Down Expand Up @@ -130,10 +130,10 @@ generate_messages(
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES irobot_msgs
# INCLUDE_DIRS include
# LIBRARIES irobot_msgs
CATKIN_DEPENDS geometry_msgs nav_msgs quadrotor_msgs
# DEPENDS system_lib
# DEPENDS system_lib
)

###########
Expand All @@ -147,7 +147,7 @@ include_directories(${ARMADILLO_INCLUDE_DIRS})
## Your package locations should be listed before other locations
include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
Expand All @@ -160,13 +160,12 @@ add_executable(multi_map_visualization src/multi_map_visualization.cc)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(multi_map_visualization multi_map_server_messages_cpp)
add_dependencies(multi_map_visualization ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(multi_map_visualization
target_link_libraries(multi_map_visualization
${catkin_LIBRARIES}
${ARMADILLO_LIBRARIES}
pose_utils
)

#############
Expand Down
19 changes: 8 additions & 11 deletions uav_simulator/Utils/odom_visualization/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ find_package(catkin REQUIRED COMPONENTS
# MultiSparseMap3D.msg
# SparseMap3D.msg
# VerticalOccupancyGridList.msg
#plan_cmd.msg
#plan_cmd.msg
#)

## Generate services in the 'srv' folder
Expand Down Expand Up @@ -123,10 +123,10 @@ find_package(catkin REQUIRED COMPONENTS
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES irobot_msgs
# CATKIN_DEPENDS geometry_msgs nav_msgs
# DEPENDS system_lib
# INCLUDE_DIRS include
# LIBRARIES irobot_msgs
# CATKIN_DEPENDS geometry_msgs nav_msgs
# DEPENDS system_lib
)

###########
Expand All @@ -151,15 +151,12 @@ include_directories(
## Declare a cpp executable
add_executable(odom_visualization src/odom_visualization.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(multi_map_visualization multi_map_server_messages_cpp)
add_dependencies(odom_visualization ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(odom_visualization
${catkin_LIBRARIES}
${ARMADILLO_LIBRARIES}
pose_utils
${catkin_LIBRARIES}
${ARMADILLO_LIBRARIES}
)

#############
Expand Down
22 changes: 13 additions & 9 deletions uav_simulator/Utils/pose_utils/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,22 @@ find_package(catkin REQUIRED COMPONENTS
catkin_package(
INCLUDE_DIRS include
LIBRARIES pose_utils
# CATKIN_DEPENDS geometry_msgs nav_msgs
# DEPENDS system_lib
# CATKIN_DEPENDS geometry_msgs nav_msgs
# DEPENDS system_lib
)

find_package(Armadillo REQUIRED)

include_directories(
${catkin_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
include
)
${catkin_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
include
)

add_library(pose_utils
src/pose_utils.cpp)

add_library(pose_utils
${ARMADILLO_LIBRARIES}
src/pose_utils.cpp)
target_link_libraries(pose_utils
${catkin_LIBRARIES}
${ARMADILLO_LIBRARIES}
)
7 changes: 3 additions & 4 deletions uav_simulator/so3_disturbance_generator/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -68,9 +68,8 @@ include_directories(

add_executable(so3_disturbance_generator src/so3_disturbance_generator.cpp)
add_dependencies(so3_disturbance_generator ${PROJECT_NAME}_gencfg)
target_link_libraries(so3_disturbance_generator
${catkin_LIBRARIES}
${ARMADILLO_LIBRARIES}
pose_utils
target_link_libraries(so3_disturbance_generator
${catkin_LIBRARIES}
${ARMADILLO_LIBRARIES}
)