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generate message wrapper headers on ros

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Thomas Gubler
2015-01-23 11:40:23 +01:00
parent 4ba57ad285
commit d7e57061c9
6 changed files with 117 additions and 36 deletions
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16
CMakeLists.txt
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@@ -125,6 +125,16 @@ include_directories(
${EIGEN_INCLUDE_DIRS}
)
## generate multiplatform wrapper headers
## note that the message header files are generated as in any ROS project with generate_messages()
set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
set(MULTIPLATFORM_PREFIX px4_)
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
## Declare a cpp library
add_library(px4
src/platforms/ros/px4_ros_impl.cpp
@@ -133,7 +143,7 @@ add_library(px4
src/lib/mathlib/math/Limits.cpp
src/modules/systemlib/circuit_breaker.cpp
)
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(px4
${catkin_LIBRARIES}
@@ -143,7 +153,7 @@ target_link_libraries(px4
add_executable(publisher
src/examples/publisher/publisher_main.cpp
src/examples/publisher/publisher_example.cpp)
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(publisher
${catkin_LIBRARIES}
px4
@@ -153,7 +163,7 @@ target_link_libraries(publisher
add_executable(subscriber
src/examples/subscriber/subscriber_main.cpp
src/examples/subscriber/subscriber_example.cpp)
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(subscriber
${catkin_LIBRARIES}
px4