File size: 2,383 Bytes
e5f58d9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 | cmake_minimum_required(VERSION 3.0)
project(plugins)
find_package(gazebo REQUIRED)
# Work around broken CMake exports pulled in transitively via Gazebo -> DART.
# DART was packaged with empty include prefixes, so several of its imported
# targets (Boost::system/filesystem/regex, ...) carry a bogus "/include" path
# in INTERFACE_INCLUDE_DIRECTORIES. CMake validates these while walking the
# link closure and aborts the generate step with:
# Imported target "dart" includes non-existent path "/include".
# Recurse through the whole GAZEBO_LIBRARIES link closure and drop any include
# directory that does not exist on disk.
function(_strip_bad_includes _target)
if(NOT TARGET ${_target})
return()
endif()
get_property(_seen GLOBAL PROPERTY "_sbi_seen_${_target}")
if(_seen)
return()
endif()
set_property(GLOBAL PROPERTY "_sbi_seen_${_target}" 1)
get_target_property(_inc ${_target} INTERFACE_INCLUDE_DIRECTORIES)
if(_inc)
set(_ok "")
foreach(_p IN LISTS _inc)
if(EXISTS "${_p}")
list(APPEND _ok "${_p}")
endif()
endforeach()
set_target_properties(${_target} PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${_ok}")
endif()
get_target_property(_deps ${_target} INTERFACE_LINK_LIBRARIES)
if(_deps)
foreach(_d IN LISTS _deps)
if(TARGET ${_d})
_strip_bad_includes(${_d})
endif()
endforeach()
endif()
endfunction()
foreach(_root IN LISTS GAZEBO_LIBRARIES)
if(TARGET ${_root})
_strip_bad_includes(${_root})
endif()
endforeach()
# The same empty-prefix bug leaves a stray "/include" in GAZEBO_INCLUDE_DIRS;
# drop non-existent entries so the compiler isn't handed bogus -I flags.
set(_gz_inc_ok "")
foreach(_p IN LISTS GAZEBO_INCLUDE_DIRS)
if(EXISTS "${_p}")
list(APPEND _gz_inc_ok "${_p}")
endif()
endforeach()
set(GAZEBO_INCLUDE_DIRS "${_gz_inc_ok}")
# Gazebo headers require C++14, and bring in their own compile flags.
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
add_library(SimpleDronePlugin SHARED SimpleDronePlugin.cc)
# GAZEBO_LIBRARIES already pulls in the sensors + rendering + transport libs
# needed for reading camera frames.
target_link_libraries(SimpleDronePlugin ${GAZEBO_LIBRARIES})
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