Mirrors_Framework/PX4-Autopilot
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initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689)

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- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
 - currently doesn't do much other than allow you to build px4 msgs interface package
This commit is contained in:
Daniel Agar
2022-12-08 23:03:44 -05:00
committed by GitHub
parent cfb670fbb3
commit 8114aad983
73 changed files with 4037 additions and 247 deletions
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CMakeLists.txt
+22 -55
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -143,25 +143,17 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
# configuration
#
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
include(px4_add_module)
set(config_module_list)
set(config_kernel_list)
# Find Python
# If using catkin, Python 2 is found since it points
# to the Python libs installed with the ROS distro
if (NOT CATKIN_DEVEL_PREFIX)
find_package(PythonInterp 3)
# We have a custom error message to tell users how to install python3.
if (NOT PYTHONINTERP_FOUND)
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
" macOS: brew install python")
endif()
else()
find_package(PythonInterp REQUIRED)
find_package(PythonInterp 3)
# We have a custom error message to tell users how to install python3.
if(NOT PYTHONINTERP_FOUND)
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
" macOS: brew install python")
endif()
option(PYTHON_COVERAGE "Python code coverage" OFF)
@@ -207,6 +199,11 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
include(init)
endif()
#=============================================================================
# project definition
#
project(px4 CXX C ASM)
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
if(NOT CMAKE_BUILD_TYPE)
if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -235,11 +232,6 @@ endif()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
#=============================================================================
# project definition
#
project(px4 CXX C ASM)
# Check if LTO option and check if toolchain supports it
if(LTO)
include(CheckIPOSupported)
@@ -256,15 +248,9 @@ set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# For the catkin build process, unset build of dynamically-linked binaries
# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
if (NOT CATKIN_DEVEL_PREFIX)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
else()
SET(BUILD_SHARED_LIBS OFF)
endif()
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
#=============================================================================
@@ -309,21 +295,6 @@ endif()
include(ccache)
#=============================================================================
# find programs and packages
#
# see if catkin was invoked to build this
if (CATKIN_DEVEL_PREFIX)
message(STATUS "catkin ENABLED")
find_package(catkin REQUIRED)
if (catkin_FOUND)
catkin_package()
else()
message(FATAL_ERROR "catkin not found")
endif()
endif()
#=============================================================================
# get chip and chip manufacturer
#
@@ -450,10 +421,10 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
target_link_libraries(parameters_interface INTERFACE usr_parameters)
target_link_libraries(kernel_parameters_interface INTERFACE parameters)
target_link_libraries(parameters_interface INTERFACE usr_parameters)
target_link_libraries(kernel_parameters_interface INTERFACE parameters)
else()
target_link_libraries(parameters_interface INTERFACE parameters)
target_link_libraries(parameters_interface INTERFACE parameters)
endif()
# firmware added last to generate the builtin for included modules
@@ -486,17 +457,13 @@ include(doxygen)
include(metadata)
include(package)
# print size
add_custom_target(size
COMMAND size $<TARGET_FILE:px4>
DEPENDS px4
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
# install python requirements using configured python
add_custom_target(install_python_requirements
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
USES_TERMINAL
)
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
include(finalize)
endif()