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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cmake/px4_config.cmake
+18 -14
View File
@@ -33,6 +33,16 @@
# find PX4 config
# look for in tree board config that matches CONFIG input
if(NOT CONFIG)
# default to px4_ros2_default if building within a ROS2 colcon environment
if(("$ENV{COLCON}" MATCHES "1") AND ("$ENV{ROS_VERSION}" MATCHES "2"))
set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration")
else()
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
endif()
endif()
if(NOT PX4_CONFIG_FILE)
file(GLOB_RECURSE board_configs
@@ -40,8 +50,6 @@ if(NOT PX4_CONFIG_FILE)
"boards/*.px4board"
)
set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE)
foreach(filename ${board_configs})
# parse input CONFIG into components to match with existing in tree configs
# the platform prefix (eg nuttx_) is historical, and removed if present
@@ -63,9 +71,9 @@ if(NOT PX4_CONFIG_FILE)
)
set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
break()
endif()
@@ -76,19 +84,15 @@ if(NOT PX4_CONFIG_FILE)
)
set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
break()
endif()
endif()
endforeach()
endif()
if(NOT PX4_CONFIG_FILE)
message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
endif()
message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
include_directories(${PX4_BOARD_DIR}/src)
@@ -108,9 +112,9 @@ set(PX4_BOARD_LABEL ${LABEL} CACHE STRING "PX4 board label" FORCE)
set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE STRING "PX4 config" FORCE)
if(EXISTS "${PX4_BOARD_DIR}/uavcan_board_identity")
include ("${PX4_BOARD_DIR}/uavcan_board_identity")
include ("${PX4_BOARD_DIR}/uavcan_board_identity")
endif()
if(EXISTS "${PX4_BOARD_DIR}/sitl.cmake")
include ("${PX4_BOARD_DIR}/sitl.cmake")
include ("${PX4_BOARD_DIR}/sitl.cmake")
endif()