Skip to content

cleanup: Cleaned up CMAKE for estimation #53

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
JMoore5353 merged 3 commits into from
Jan 12, 2026
Merged

cleanup: Cleaned up CMAKE for estimation #53

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
f9d71a3
cleanup: Cleaned up CMAKE for estimation
iandareid Dec 30, 2025
729539e
Fixed param_manager linking bug.
iandareid Dec 30, 2025
5685d63
add estimation lib as linked library for estimator exec
JMoore5353 Jan 12, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
51 changes: 25 additions & 26 deletions roscopter/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ else()
endif()

ament_export_include_directories(include ${EIGEN3_INCLUDE_DIRS})
ament_export_dependencies(rclcpp rclpy roscopter_msgs rosflight_msgs std_msgs nav_msgs sensor_msgs EIGEN3 geometry_msgs)
ament_export_dependencies(rclcpp rclpy roscopter_msgs rosflight_msgs std_msgs nav_msgs sensor_msgs Eigen3 geometry_msgs)

add_definitions(-DROSCOPTER_DIR="${CMAKE_CURRENT_LIST_DIR}")

Expand Down Expand Up @@ -90,40 +90,39 @@ install(TARGETS param_manager
INCLUDES DESTINATION include
)

# ESTIMATOR LIB
set_source_files_properties(geomag.c PROPERTIES LANGUAGE C)
add_library(estimation_lib SHARED
src/ekf/estimator_ros.cpp
src/ekf/estimator_ekf.cpp
src/ekf/estimator_continuous_discrete.cpp
src/utils/geomag.c)
target_include_directories(estimation_lib
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/ekf>"
"$<INSTALL_INTERFACE:include/ekf>")
ament_target_dependencies(estimation_lib rclcpp geometry_msgs rosflight_msgs sensor_msgs Eigen3 roscopter_msgs ament_index_cpp)
install(DIRECTORY include/ekf DESTINATION include)
install(TARGETS estimation_lib
EXPORT export_estimation_lib
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_export_targets(export_estimation_lib HAS_LIBRARY_TARGET)

### EXECUTABLES ###

# Estimator
set_source_files_properties(geomag.c PROPERTIES LANGUAGE C)
add_executable(estimator
src/ekf/estimator_node.cpp
src/ekf/estimator_ros.cpp
src/ekf/estimator_ekf.cpp
src/ekf/estimator_continuous_discrete.cpp
src/utils/geomag.c)
target_link_libraries(estimator
${YAML_CPP_LIBRARIES}
)
ament_target_dependencies(estimator roscopter_msgs rosflight_msgs sensor_msgs rclcpp Eigen3 ament_index_cpp)
target_link_libraries(estimator param_manager)
src/ekf/estimator_node.cpp)
ament_target_dependencies(estimator PUBLIC roscopter_msgs rosflight_msgs sensor_msgs rclcpp Eigen3 ament_index_cpp)
target_link_libraries(estimator PUBLIC estimation_lib ${ament_LIBRARIES} param_manager ${YAML_CPP_LIBRARIES})
target_include_directories(estimator PUBLIC include)
install(TARGETS
estimator
DESTINATION lib/${PROJECT_NAME})

add_library(estimator_lib
src/ekf/estimator_node.cpp
src/ekf/estimator_ros.cpp
src/ekf/estimator_ekf.cpp
src/ekf/estimator_continuous_discrete.cpp
src/utils/geomag.c
include/ekf/estimator_ros.hpp
include/ekf/estimator_ekf.hpp
include/ekf/estimator_continuous_discrete.hpp)
target_link_libraries(estimator_lib param_manager)
target_link_libraries(estimator estimator_lib)
ament_target_dependencies(estimator_lib rclcpp geometry_msgs rosflight_msgs sensor_msgs Eigen3 roscopter_msgs ament_index_cpp)

# External attitude transcriber
add_executable(ext_att_transcriber
src/ekf/external_attitude_transcriber.cpp)
Expand Down Expand Up @@ -183,7 +182,7 @@ if(BUILD_TESTING)
target_include_directories(estimator_test PUBLIC
include
)
target_link_libraries(estimator_test estimator_lib)
target_link_libraries(estimator_test estimation_lib param_manager)

find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
Expand Down
Loading