Merge branch 'hexa_latest' into kinetic-devel

CMakeLists.txt

@@ -9,19 +9,65 @@ find_package(catkin REQUIRED COMPONENTS
   mavros_msgs
   roscpp
   sensor_msgs
+  pcl_conversions
 )
 
+find_package(PCL 1.7 REQUIRED)
+find_package(octomap REQUIRED)
+
+find_package(gazebo REQUIRED)
+if("${GAZEBO_VERSION}" VERSION_LESS "7.4")
+  message(FATAL_ERROR "Gazebo 7.4 or later is required.")
+endif()
+
 catkin_package()
 
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+  ${OCTOMAP_INCLUDE_DIRS}
 )
 
+link_directories(${PCL_LIBRARY_DIRS})
+
+link_libraries(${OCTOMAP_LIBRARIES})
+
+add_definitions(${PCL_DEFINITIONS})
+
 add_executable(simple_sweep_demo src/simple_sweep_demo.cpp)
 add_executable(offb_node src/offb_node.cpp)
 add_executable(rc_converter src/rc_converter.cpp)
 
-target_link_libraries(simple_sweep_demo ${catkin_LIBRARIES})
+target_link_libraries(simple_sweep_demo
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
 target_link_libraries(offb_node ${catkin_LIBRARIES})
 target_link_libraries(rc_converter ${catkin_LIBRARIES})
+
+# Airframe file paths
+if($ENV{ROS_HOME})
+  set(ROS_ROMFS_DIR $ENV{ROS_HOME}/etc)
+else()
+  set(ROS_ROMFS_DIR $ENV{HOME}/.ros/etc)
+endif()
+
+set(PACK_ROMFS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/ROMFS/px4fmu_common)
+
+# copy airframes to ROS_ROMFS_DIR
+add_custom_target(iris_lidar_vertical
+                  ALL cp ${PACK_ROMFS_DIR}/init.d-posix/10050_iris_lidar_vertical ${ROS_ROMFS_DIR}/init.d-posix/)
+add_custom_target(f550_rd
+                  ALL cp ${PACK_ROMFS_DIR}/init.d-posix/60010_F550_rd ${ROS_ROMFS_DIR}/init.d-posix/)
+add_custom_target(f550
+                  ALL cp ${PACK_ROMFS_DIR}/init.d-posix/60030_F550 ${ROS_ROMFS_DIR}/init.d-posix/)
+
+# Doxygen document generation
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+add_custom_target(gen_doc ALL
+        COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+        VERBATIM )
+endif()