compilation

.gitignore

@@ -1,10 +1,53 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.gch
+
+# Python stuff
+*.pyc
+__init__.py
+__init__.pyc
+.pydevproject
+*Config.py
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+
+# Eclipse projects
+.project
+.cproject
+.settings
+Makefile.*
+Debug
+Release
+
+# Some usual extensions and folders
+.DS_Store
+*~
+*.bak
+.player
+.svn
+*.suo
+*.ncb
+*.user
+*.tmp
+doc
+data
+
+# ROS specific
+CMakeFiles
+CMakeCache.txt
 cmake_install.cmake
 build/
 bin/
 lib/
 docs/
-msg_gen/
-srv_gen/
-*.*~
-__init__.py
-__init__.pyc
+msg_gen
+srv_gen

asctec_autopilot/CMakeLists.txt

@@ -1,34 +1,227 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(asctec_autopilot)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-set(ROS_BUILD_TYPE RelWithDebInfo)
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
 
-rosbuild_init()
+## 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
+  roscpp
+  nodelet
+  pluginlib
+  geometry_msgs
+  sensor_msgs
+  nav_msgs
+  diagnostic_updater
+  asctec_msgs
+)
 
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
 
-include_directories (${CMAKE_CURRENT_BINARY_DIR})
 
-# create autopilot library
+## 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()
 
-rosbuild_add_library (autopilot src/autopilot.cpp
-                                src/serial_interface.cpp
-                                src/crc16.cpp 
-                                src/telemetry.cpp)
+################################################
+## Declare ROS messages, services and actions ##
+################################################
 
-# create autopilot_nodelet library
+## 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
+#   Message1.msg
+#   Message2.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
+#   std_msgs  # Or other packages containing 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
+#  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS asctec_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(
+  autopilot
+  src/autopilot.cpp
+  src/serial_interface.cpp
+  src/crc16.cpp
+  src/telemetry.cpp
+)
+add_library(
+  autopilot_nodelet
+  src/autopilot_nodelet.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-rosbuild_add_library (autopilot_nodelet src/autopilot_nodelet.cpp)
 target_link_libraries (autopilot_nodelet autopilot)
 
-# create autopilot_node executable
+## 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(
+  autopilot_node
+  src/autopilot_node.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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(
+  autopilot_nodelet
+  autopilot
+  ${catkin_LIBRARIES}
+)
+target_link_libraries(
+  autopilot_node
+  autopilot
+  ${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 and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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 ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
+  ## Add gtest based cpp test target and link libraries
+  #catkin_add_gtest(${PROJECT_NAME}_test test/test_${PROJECT_NAME}.cpp)
+  #if(TARGET ${PROJECT_NAME}_test)
+    #find_package(gtest)
+  #  target_link_libraries(${PROJECT_NAME}_test {PROJECT_NAME})
+  #endif()
+endif()
 
-rosbuild_add_executable(autopilot_node src/autopilot_node.cpp)
-target_link_libraries (autopilot_node autopilot)
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

asctec_autopilot/package.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<package format="2">
+    <name>asctec_autopilot</name>
+    <version>0.1.0</version>
+    <description>This is the hardware driver for the AscTec AutoPilot built by Ascending Technologies GmbH. http://www.asctec.de. It should be compatible with the Hummingbird and Pelican quadrotor aircraft. This driver is not yet complete and the interfaces are not yet finalized. Full functionality will be supported in the near future. Contributions are welcome.</description>
+    <maintainer email="[email protected]">William Morris</maintainer>
+    <maintainer email="[email protected]">Ivan Dryanovski</maintainer>
+    <maintainer email="[email protected]">Steven Bellens</maintainer>
+    <maintainer email="[email protected]">Patrick Bouffard</maintainer>
+    <license>GPL</license>
+    <url>http://ros.org/wiki/asctec_autopilot</url>
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>roscpp</build_depend>
+    <build_depend>nodelet</build_depend>
+    <build_depend>pluginlib</build_depend>
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>nav_msgs</build_depend>
+    <build_depend>diagnostic_updater</build_depend>
+    <build_depend>asctec_msgs</build_depend>
+
+    <exec_depend>roscpp</exec_depend>
+    <exec_depend>nodelet</exec_depend>
+    <exec_depend>pluginlib</exec_depend>
+    <exec_depend>geometry_msgs</exec_depend>
+    <exec_depend>sensor_msgs</exec_depend>
+    <exec_depend>nav_msgs</exec_depend>
+    <exec_depend>diagnostic_updater</exec_depend>
+    <exec_depend>asctec_msgs</exec_depend>
+
+    <!--export>
+        <nodelet plugin="${prefix}/autopilot_nodelet.xml" />
+    </export-->
+</package>

asctec_autopilot/src/autopilot_nodelet.cpp

@@ -27,7 +27,7 @@
 
 typedef asctec::AutoPilotNodelet AutoPilotNodelet;
 
-PLUGINLIB_DECLARE_CLASS (asctec_autopilot, AutoPilotNodelet, AutoPilotNodelet, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS (asctec::AutoPilotNodelet, nodelet::Nodelet);
 
 void asctec::AutoPilotNodelet::onInit ()
 {

asctec_drivers/CMakeLists.txt

@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(asctec_drivers)
+find_package(catkin REQUIRED)
+catkin_metapackage()