Lorenz Meier
10 years ago
3 changed files with 230 additions and 0 deletions
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cmake_minimum_required(VERSION 2.8.3) |
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project(px4) |
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## Find catkin macros and libraries |
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) |
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## is used, also find other catkin packages |
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find_package(catkin REQUIRED COMPONENTS |
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roscpp |
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rospy |
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std_msgs |
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) |
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## System dependencies are found with CMake's conventions |
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# find_package(Boost REQUIRED COMPONENTS system) |
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## Uncomment this if the package has a setup.py. This macro ensures |
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## modules and global scripts declared therein get installed |
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html |
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# catkin_python_setup() |
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################################################ |
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## Declare ROS messages, services and actions ## |
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################################################ |
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## To declare and build messages, services or actions from within this |
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## package, follow these steps: |
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## * Let MSG_DEP_SET be the set of packages whose message types you use in |
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). |
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## * In the file package.xml: |
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET |
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## * If MSG_DEP_SET isn't empty the following dependencies might have been |
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## pulled in transitively but can be declared for certainty nonetheless: |
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## * add a build_depend tag for "message_generation" |
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## * add a run_depend tag for "message_runtime" |
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## * In this file (CMakeLists.txt): |
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## * add "message_generation" and every package in MSG_DEP_SET to |
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## find_package(catkin REQUIRED COMPONENTS ...) |
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## * add "message_runtime" and every package in MSG_DEP_SET to |
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## catkin_package(CATKIN_DEPENDS ...) |
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## * uncomment the add_*_files sections below as needed |
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## and list every .msg/.srv/.action file to be processed |
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## * uncomment the generate_messages entry below |
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) |
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## Generate messages in the 'msg' folder |
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# add_message_files( |
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# FILES |
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# Message1.msg |
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# Message2.msg |
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# ) |
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## Generate services in the 'srv' folder |
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# add_service_files( |
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# FILES |
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# Service1.srv |
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# Service2.srv |
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# ) |
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## Generate actions in the 'action' folder |
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# add_action_files( |
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# FILES |
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# Action1.action |
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# Action2.action |
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# ) |
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## Generate added messages and services with any dependencies listed here |
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generate_messages( |
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DEPENDENCIES |
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std_msgs |
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) |
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################################### |
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## catkin specific configuration ## |
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################################### |
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## The catkin_package macro generates cmake config files for your package |
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## Declare things to be passed to dependent projects |
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## INCLUDE_DIRS: uncomment this if you package contains header files |
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## LIBRARIES: libraries you create in this project that dependent projects also need |
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## CATKIN_DEPENDS: catkin_packages dependent projects also need |
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## DEPENDS: system dependencies of this project that dependent projects also need |
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catkin_package( |
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# INCLUDE_DIRS include |
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# LIBRARIES px4 |
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# CATKIN_DEPENDS roscpp rospy std_msgs |
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# DEPENDS system_lib |
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) |
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########### |
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## Build ## |
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########### |
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## Specify additional locations of header files |
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## Your package locations should be listed before other locations |
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# include_directories(include) |
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include_directories( |
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${catkin_INCLUDE_DIRS} |
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) |
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## Declare a cpp library |
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# add_library(px4 |
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# src/${PROJECT_NAME}/px4test.cpp # src/platform/ros/ros.cpp |
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# ) |
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## Declare a cpp executable |
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add_executable(rostest_node src/platform/ros/ros.cpp) |
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## Add cmake target dependencies of the executable/library |
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## as an example, message headers may need to be generated before nodes |
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add_dependencies(rostest_node px4_generate_messages_cpp) |
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## Specify libraries to link a library or executable target against |
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target_link_libraries(rostest_node |
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${catkin_LIBRARIES} |
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) |
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############# |
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## Install ## |
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############# |
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# all install targets should use catkin DESTINATION variables |
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html |
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## Mark executable scripts (Python etc.) for installation |
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## in contrast to setup.py, you can choose the destination |
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# install(PROGRAMS |
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# scripts/my_python_script |
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} |
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# ) |
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## Mark executables and/or libraries for installation |
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# install(TARGETS px4 mc_attitude_control |
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} |
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# ) |
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## Mark cpp header files for installation |
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# install(DIRECTORY include/${PROJECT_NAME}/ |
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} |
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# FILES_MATCHING PATTERN "*.h" |
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# PATTERN ".svn" EXCLUDE |
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# ) |
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## Mark other files for installation (e.g. launch and bag files, etc.) |
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# install(FILES |
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# # myfile1 |
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# # myfile2 |
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} |
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# ) |
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############# |
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## Testing ## |
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############# |
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## Add gtest based cpp test target and link libraries |
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp) |
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# if(TARGET ${PROJECT_NAME}-test) |
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) |
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# endif() |
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## Add folders to be run by python nosetests |
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# catkin_add_nosetests(test) |
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@ -0,0 +1,8 @@ |
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Header header |
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int32 RC_CHANNELS_FUNCTION_MAX=18 |
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uint64 timestamp_last_valid # Timestamp of last valid RC signal |
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float32 channels[RC_CHANNELS_FUNCTION_MAX] # Scaled to -1..1 (throttle: 0..1) |
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uint8 channel_count # Number of valid channels |
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int8 function[RC_CHANNELS_FUNCTION_MAX] # Functions mapping |
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uint8 rssi # Receive signal strength index |
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bool signal_lost # Control signal lost, should be checked together with topic timeout |
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@ -0,0 +1,59 @@ |
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<?xml version="1.0"?> |
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<package> |
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<name>px4</name> |
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<version>1.0.0</version> |
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<description>The PX4 Flight Stack package</description> |
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<!-- One maintainer tag required, multiple allowed, one person per tag --> |
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<!-- Example: --> |
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> |
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<maintainer email="lorenz@px4.io">Lorenz Meier</maintainer> |
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<!-- One license tag required, multiple allowed, one license per tag --> |
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<!-- Commonly used license strings: --> |
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> |
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<license>BSD</license> |
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<!-- Url tags are optional, but mutiple are allowed, one per tag --> |
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<!-- Optional attribute type can be: website, bugtracker, or repository --> |
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<!-- Example: --> |
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<url type="website">http://px4.io/ros</url> |
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<!-- Author tags are optional, mutiple are allowed, one per tag --> |
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<!-- Authors do not have to be maintianers, but could be --> |
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<!-- Example: --> |
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<!-- <author email="jane.doe@example.com">Jane Doe</author> --> |
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<!-- The *_depend tags are used to specify dependencies --> |
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<!-- Dependencies can be catkin packages or system dependencies --> |
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<!-- Examples: --> |
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<!-- Use build_depend for packages you need at compile time: --> |
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<!-- <build_depend>message_generation</build_depend> --> |
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<!-- Use buildtool_depend for build tool packages: --> |
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<!-- <buildtool_depend>catkin</buildtool_depend> --> |
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<!-- Use run_depend for packages you need at runtime: --> |
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<!-- <run_depend>message_runtime</run_depend> --> |
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<!-- Use test_depend for packages you need only for testing: --> |
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<!-- <test_depend>gtest</test_depend> --> |
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<buildtool_depend>catkin</buildtool_depend> |
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<build_depend>roscpp</build_depend> |
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<build_depend>rospy</build_depend> |
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<build_depend>std_msgs</build_depend> |
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<run_depend>roscpp</run_depend> |
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<run_depend>rospy</run_depend> |
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<run_depend>std_msgs</run_depend> |
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<!-- The export tag contains other, unspecified, tags --> |
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<export> |
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<!-- You can specify that this package is a metapackage here: --> |
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<!-- <metapackage/> --> |
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<!-- Other tools can request additional information be placed here --> |
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</export> |
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</package> |
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