| 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}) |
|
|
