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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
cmake_policy(SET CMP0042 NEW)
cmake_policy(SET CMP0048 NEW)
cmake_policy(SET CMP0054 NEW)
if (NOT CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "install prefix" FORCE)
endif()
message(STATUS "install-prefix: ${CMAKE_INSTALL_PREFIX}")
# CMake build type (Debug Release RelWithDebInfo MinSizeRel)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "RelWithDebInfo")
set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Build type" FORCE)
endif()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
project(mavlink_sitl_gazebo VERSION 1.0.0)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
# Set c++11 or higher
include(EnableC++XX)
# Set c11
set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
include(ccache)
include(GNUInstallDirs)
#######################
## Find Dependencies ##
#######################
option(BUILD_GSTREAMER_PLUGIN "enable gstreamer plugin" ON)
option(BUILD_ROS2_PLUGINS "Enable building ROS2 dependent plugins" OFF)
option(GENERATE_ROS_MODELS "Generate model sdf for ROS environment" OFF)
option(SEND_VISION_ESTIMATION_DATA "Send Mavlink VISION_POSITION_ESTIMATE msgs" OFF)
option(SEND_ODOMETRY_DATA "Send Mavlink ODOMETRY msgs" OFF)
## System dependencies are found with CMake's conventions
find_package(Boost 1.58 REQUIRED COMPONENTS system thread filesystem)
find_package(gazebo REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_search_module(GLIB REQUIRED glib-2.0)
# Note: 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 REQUIRED)
else()
find_package(roscpp REQUIRED)
message(STATUS "${roscpp_version}")
if(${roscpp_VERSION} VERSION_LESS "1.15.0")
find_package(PythonInterp REQUIRED)
else()
find_package(PythonInterp 3 REQUIRED)
endif()
endif()
find_package(OpenCV REQUIRED)
find_package(TinyXML REQUIRED)
if (BUILD_GSTREAMER_PLUGIN)
set(GStreamer_FIND_VERSION "1.0")
find_package(GStreamer REQUIRED)
# GStreamer requires ICU on Mac OS
if (APPLE)
set(ENV{PKG_CONFIG_PATH} "/usr/local/opt/icu4c/lib/pkgconfig")
pkg_search_module(ICU_UC icu-uc)
endif()
if (GSTREAMER_FOUND)
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
find_package (Qt4)
include (${QT_USE_FILE})
else()
# In order to find Qt5 in macOS, the Qt5 path needs to be added to the CMake prefix path.
if(APPLE)
execute_process(COMMAND brew --prefix qt5
ERROR_QUIET
OUTPUT_VARIABLE QT5_PREFIX_PATH
OUTPUT_STRIP_TRAILING_WHITESPACE
)
list(APPEND CMAKE_PREFIX_PATH "${QT5_PREFIX_PATH}/lib/cmake")
endif()
find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
endif()
endif()
endif()
pkg_check_modules(OGRE OGRE)
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS})
else()
include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS} ${Qt5Core_INCLUDE_DIRS})
endif()
link_directories(${GAZEBO_LIBRARY_DIRS})
add_subdirectory( external/OpticalFlow OpticalFlow )
set( OpticalFlow_LIBS "OpticalFlow" )
# for ROS2 subscribers and publishers
if (BUILD_ROS2_PLUGINS)
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
endif()
# find MAVLink
find_package(MAVLink)
# 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()
else()
message(STATUS "catkin DISABLED")
endif()
# XXX this approach is extremely error prone
# it would be preferable to either depend on the
# compiled headers from Gazebo directly
# or to have something entirely independent.
#
set(PROTOBUF_IMPORT_DIRS "")
foreach(ITR ${GAZEBO_INCLUDE_DIRS})
if(ITR MATCHES ".*gazebo-[0-9.]+$")
set(PROTOBUF_IMPORT_DIRS "${ITR}/gazebo/msgs/proto")
endif()
endforeach()
# PROTOBUF_IMPORT_DIRS has to be set before
# find_package is called
find_package(Protobuf REQUIRED)
pkg_check_modules(PROTOBUF protobuf)
if ("${PROTOBUF_VERSION}" VERSION_LESS "2.5.0")
message(FATAL_ERROR "protobuf version: ${PROTOBUF_VERSION} not compatible, must be >= 2.5.0")
endif()
if("${GAZEBO_VERSION}" VERSION_LESS "6.0")
message(FATAL_ERROR "You need at least Gazebo 6.0. Your version: ${GAZEBO_VERSION}")
else()
message(STATUS "Gazebo version: ${GAZEBO_VERSION}")
endif()
find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
# Fallback to cmake_modules
find_package(Eigen QUIET)
if(NOT EIGEN_FOUND)
pkg_check_modules(EIGEN3 REQUIRED eigen3)
else()
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
endif()
else()
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()
###########
## Build ##
###########
add_compile_options(-Wno-deprecated-declarations -Wno-address-of-packed-member)
set(GAZEBO_MSG_INCLUDE_DIRS)
foreach(ITR ${GAZEBO_INCLUDE_DIRS})
if(ITR MATCHES ".*gazebo-[0-9.]+$")
set(GAZEBO_MSG_INCLUDE_DIRS "${ITR}/gazebo/msgs")
endif()
endforeach()
include_directories(
include
${Boost_INCLUDE_DIR}
${CMAKE_CURRENT_BINARY_DIR}
${EIGEN3_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}/eigen3 # Workaround for Eigen3
${GAZEBO_INCLUDE_DIRS}
${GAZEBO_MSG_INCLUDE_DIRS}
${MAVLINK_INCLUDE_DIRS}
${MAVLINK_INCLUDE_DIRS}/mavlink/v2.0 # Workaround for "fatal error: development/mavlink.h: No such file or directory"
${OGRE_INCLUDE_DIRS}
${OGRE_INCLUDE_DIRS}/Paging # Workaround for "fatal error: OgrePagedWorldSection.h: No such file or directory"
${OpenCV_INCLUDE_DIRS}
${OpticalFlow_INCLUDE_DIRS}
${TinyXML_INCLUDE_DIRS}
)
if (GSTREAMER_FOUND)
include_directories(
${GSTREAMER_INCLUDE_DIRS}
${GSTREAMER_APP_INCLUDE_DIRS}
)
endif()
link_libraries(
${Boost_SYSTEM_LIBRARY_RELEASE}
${Boost_THREAD_LIBRARY_RELEASE}
${Boost_TIMER_LIBRARY_RELEASE}
${GAZEBO_LIBRARIES}
${OpenCV_LIBRARIES}
)
if (GSTREAMER_FOUND)
link_libraries(
${GSTREAMER_LIBRARIES}
${GSTREAMER_APP_LIBRARIES}
${GLIB_LDFLAGS}
gobject-2.0
)
if (APPLE)
link_libraries(
${ICU_UC_LDFLAGS}
)
endif()
endif()
link_directories(
${GAZEBO_LIBRARY_DIRS}
${CMAKE_CURRENT_BINARY_DIR}
${OGRE_LIBRARY_DIRS}
)
#--------------------------#
# Generation of SDF models #
#--------------------------#
set(enable_mavlink_interface "true")
set(enable_ground_truth "false")
set(enable_logging "false")
set(enable_camera "false")
set(enable_wind "false")
set(scripts_dir "${CMAKE_CURRENT_SOURCE_DIR}/scripts")
# set the vision estimation to be sent if set by the CMake option SEND_VISION_ESTIMATION_DATA
set(send_vision_estimation "false")
if (SEND_VISION_ESTIMATION_DATA)
set(send_vision_estimation "true")
endif()
# if SEND_ODOMETRY_DATA option is set, then full odometry data is sent instead of
# only the visual pose estimate
set(send_odometry "false")
if (SEND_ODOMETRY_DATA)
set(send_odometry "true")
set(send_vision_estimation "false")
endif()
#-----------#
# Functions #
#-----------#
function(glob_generate target file_glob)
file(READ .gitignore gitignore_content)
file(GLOB_RECURSE glob_files RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${file_glob})
set(gen_files)
foreach(glob_file ${glob_files})
string(REGEX REPLACE "\\.[^.]*$" "" file_name ${glob_file})
string(REGEX MATCH "[^.]*$" file_ext ${glob_file})
get_filename_component(file_dir ${glob_file} DIRECTORY)
set(in_file ${CMAKE_CURRENT_SOURCE_DIR}/${glob_file})
file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${file_dir})
set(out_file ${CMAKE_CURRENT_SOURCE_DIR}/${file_name})
string(REGEX REPLACE ".sdf" ".sdf" out_file ${out_file})
if (${file_ext} STREQUAL "jinja")
if(GENERATE_ROS_MODELS)
add_custom_command(OUTPUT ${out_file}
COMMAND
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR} --generate_ros_models true
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
VERBATIM
)
else()
add_custom_command(OUTPUT ${out_file}
COMMAND
${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR}
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
VERBATIM
)
endif()
list(APPEND gen_files_${target} ${out_file})
string(REGEX REPLACE "${CMAKE_CURRENT_SOURCE_DIR}/" "" gitignore_str ${in_file})
string(REGEX REPLACE ".jinja" "" gitignore_str ${gitignore_str})
string(FIND ${gitignore_content} ${gitignore_str} gitignore_substr)
if(${gitignore_substr} EQUAL -1)
file(APPEND .gitignore ${gitignore_str} "\n")
endif()
endif()
endforeach()
add_custom_target(${target} ALL DEPENDS ${gen_files_${target}})
endfunction()
glob_generate(models_gen ${CMAKE_CURRENT_SOURCE_DIR}/models/*.jinja)
#--------------------#
# Message Generation #
#--------------------#
set(mav_msgs
msgs/CommandMotorSpeed.proto
msgs/MotorSpeed.proto
)
set(nav_msgs msgs/Odometry.proto)
set(physics_msgs
msgs/Force.proto
msgs/Wind.proto
)
set(std_msgs msgs/Int32.proto)
set(sensor_msgs
msgs/Airspeed.proto
msgs/Imu.proto
msgs/IRLock.proto
msgs/TargetRelative.proto
msgs/Float.proto
msgs/Groundtruth.proto
msgs/Range.proto
msgs/SITLGps.proto
msgs/OpticalFlow.proto
msgs/MagneticField.proto
msgs/Pressure.proto
)
PROTOBUF_GENERATE_CPP(MAV_PROTO_SRCS MAV_PROTO_HDRS ${mav_msgs})
PROTOBUF_GENERATE_CPP(NAV_PROTO_SRCS NAV_PROTO_HDRS ${nav_msgs})
PROTOBUF_GENERATE_CPP(PHY_PROTO_SRCS PHY_PROTO_HDRS ${physics_msgs})
PROTOBUF_GENERATE_CPP(STD_PROTO_SRCS STD_PROTO_HDRS ${std_msgs})
PROTOBUF_GENERATE_CPP(SEN_PROTO_SRCS SEN_PROTO_HDRS ${sensor_msgs})
add_library(mav_msgs SHARED ${MAV_PROTO_SRCS})
add_library(nav_msgs SHARED ${NAV_PROTO_SRCS})
add_library(physics_msgs SHARED ${PHY_PROTO_SRCS})
add_library(std_msgs SHARED ${STD_PROTO_SRCS})
add_library(sensor_msgs SHARED ${SEN_PROTO_SRCS})
#---------#
# Plugins #
#---------#
link_libraries(mav_msgs nav_msgs std_msgs sensor_msgs)
link_libraries(physics_msgs)
add_library(gazebo_airspeed_plugin SHARED src/gazebo_airspeed_plugin.cpp)
add_library(gazebo_camera_manager_plugin SHARED src/gazebo_camera_manager_plugin.cpp)
add_library(gazebo_gps_plugin SHARED src/gazebo_gps_plugin.cpp)
add_library(gazebo_groundtruth_plugin SHARED src/gazebo_groundtruth_plugin.cpp)
add_library(gazebo_irlock_plugin SHARED src/gazebo_irlock_plugin.cpp)
add_library(gazebo_random_velocity_plugin SHARED src/gazebo_random_velocity_plugin.cpp)
add_library(gazebo_lidar_plugin SHARED src/gazebo_lidar_plugin.cpp)
add_library(gazebo_opticalflow_mockup_plugin SHARED src/gazebo_opticalflow_mockup_plugin.cpp)
add_library(gazebo_opticalflow_plugin SHARED src/gazebo_opticalflow_plugin.cpp)
add_library(gazebo_aruco_plugin SHARED src/gazebo_aruco_plugin.cpp)
add_library(gazebo_sonar_plugin SHARED src/gazebo_sonar_plugin.cpp)
add_library(gazebo_uuv_plugin SHARED src/gazebo_uuv_plugin.cpp)
add_library(gazebo_vision_plugin SHARED src/gazebo_vision_plugin.cpp)
add_library(gazebo_controller_interface SHARED src/gazebo_controller_interface.cpp)
add_library(gazebo_gimbal_controller_plugin SHARED src/gazebo_gimbal_controller_plugin.cpp)
add_library(gazebo_imu_plugin SHARED src/gazebo_imu_plugin.cpp)
add_library(gazebo_mavlink_interface SHARED src/gazebo_mavlink_interface.cpp src/mavlink_interface.cpp)
add_library(gazebo_motor_model SHARED src/gazebo_motor_model.cpp)
add_library(gazebo_multirotor_base_plugin SHARED src/gazebo_multirotor_base_plugin.cpp)
add_library(gazebo_wind_plugin SHARED src/gazebo_wind_plugin.cpp)
add_library(gazebo_magnetometer_plugin SHARED src/gazebo_magnetometer_plugin.cpp src/geo_mag_declination.cpp)
add_library(gazebo_barometer_plugin SHARED src/gazebo_barometer_plugin.cpp)
add_library(gazebo_catapult_plugin SHARED src/gazebo_catapult_plugin.cpp)
add_library(gazebo_usv_dynamics_plugin SHARED src/gazebo_usv_dynamics_plugin.cpp)
add_library(gazebo_parachute_plugin SHARED src/gazebo_parachute_plugin.cpp)
add_library(gazebo_pose_sniffer_plugin SHARED src/gazebo_pose_sniffer_plugin.cpp)
add_library(gazebo_airship_dynamics_plugin SHARED src/gazebo_airship_dynamics_plugin.cpp)
add_library(gazebo_drop_plugin SHARED src/gazebo_drop_plugin.cpp)
set(plugins
gazebo_airspeed_plugin
gazebo_camera_manager_plugin
gazebo_gps_plugin
gazebo_groundtruth_plugin
gazebo_irlock_plugin
gazebo_random_velocity_plugin
gazebo_lidar_plugin
gazebo_opticalflow_mockup_plugin
gazebo_opticalflow_plugin
gazebo_aruco_plugin
gazebo_sonar_plugin
gazebo_uuv_plugin
gazebo_vision_plugin
gazebo_controller_interface
gazebo_gimbal_controller_plugin
gazebo_imu_plugin
gazebo_mavlink_interface
gazebo_motor_model
gazebo_multirotor_base_plugin
gazebo_wind_plugin
gazebo_magnetometer_plugin
gazebo_barometer_plugin
gazebo_catapult_plugin
gazebo_usv_dynamics_plugin
gazebo_parachute_plugin
gazebo_pose_sniffer_plugin
gazebo_airship_dynamics_plugin
gazebo_drop_plugin
)
foreach(plugin ${plugins})
target_link_libraries(${plugin} ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${TinyXML_LIBRARIES})
endforeach()
target_link_libraries(gazebo_opticalflow_plugin ${OpticalFlow_LIBS})
# If BUILD_ROS2_PLUGINS set to ON, build plugins that have ROS dependencies
# Current plugins that can be used with ROS interface: gazebo_motor_failure_plugin
if (BUILD_ROS2_PLUGINS)
add_library(gazebo_motor_failure_plugin SHARED src/gazebo_motor_failure_plugin.cpp)
target_link_libraries(gazebo_motor_failure_plugin ${GAZEBO_libraries} ${rclcpp_LIBRARIES})
list(APPEND plugins gazebo_motor_failure_plugin)
message(STATUS "adding gazebo_motor_failure_plugin to build")
include_directories(
include
${geometry_msgs_INCLUDE_DIRS}
${sensor_msgs_INCLUDE_DIRS}
${rclcpp_INCLUDE_DIRS}
)
target_link_libraries(gazebo_motor_failure_plugin
${ament_LIBRARIES}
${rclcpp_LIBRARIES}
${GAZEBO_libraries}
)
endif()
if (GSTREAMER_FOUND)
add_library(gazebo_gst_camera_plugin SHARED src/gazebo_gst_camera_plugin.cpp)
set(plugins
${plugins}
gazebo_gst_camera_plugin
)
message(STATUS "Found GStreamer: adding gst_camera_plugin")
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
QT4_WRAP_CPP(headers_MOC include/gazebo_video_stream_widget.h)
add_library(gazebo_video_stream_widget SHARED ${headers_MOC} src/gazebo_video_stream_widget.cpp)
target_link_libraries(gazebo_video_stream_widget ${GAZEBO_LIBRARIES} ${QT_LIBRARIES})
set(plugins
${plugins}
gazebo_video_stream_widget
)
message(STATUS "Found GStreamer: adding gst_video_stream_widget")
else()
QT5_WRAP_CPP(headers_MOC include/gazebo_video_stream_widget.h)
add_library(gazebo_video_stream_widget SHARED ${headers_MOC} src/gazebo_video_stream_widget.cpp)
target_link_libraries(gazebo_video_stream_widget ${GAZEBO_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${Qt5Test_LIBRARIES})
set(plugins
${plugins}
gazebo_video_stream_widget
)
message(STATUS "Found GStreamer: adding gst_video_stream_widget")
endif()
endif()
QT5_WRAP_CPP(headers_MOC2 include/gazebo_user_camera_plugin.h)
add_library(gazebo_user_camera_plugin SHARED ${headers_MOC2} src/gazebo_user_camera_plugin.cpp)
target_link_libraries(gazebo_user_camera_plugin ${GAZEBO_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${Qt5Test_LIBRARIES})
set(plugins
${plugins}
gazebo_user_camera_plugin
)
# Linux is not consistent with plugin availability, even on Gazebo 7
#if("${GAZEBO_VERSION}" VERSION_LESS "7.0")
add_library(LiftDragPlugin SHARED src/liftdrag_plugin/liftdrag_plugin.cpp)
list(APPEND plugins LiftDragPlugin)
add_library(ForceVisual SHARED src/force_visual/force_visual.cpp)
list(APPEND plugins ForceVisual)
add_library(AdvancedLiftDragPlugin SHARED src/liftdrag_plugin/advanced_liftdrag_plugin.cpp)
list(APPEND plugins LiftDragPlugin)
#endif()
foreach(plugin ${plugins})
add_dependencies(${plugin} mav_msgs nav_msgs std_msgs sensor_msgs)
add_dependencies(${plugin} physics_msgs)
endforeach()
# Configure the setup script
if (catkin_FOUND)
catkin_add_env_hooks(50_sitl_gazebo_setup
DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmake
SHELLS sh)
endif()
################
## Unit Tests ##
################
include(UnitTests)
add_subdirectory(unit_tests)
#############
## Install ##
#############
set(PLUGIN_PATH ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/plugins)
set(MODEL_PATH ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/models)
set(RESOURCE_PATH ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
file(REMOVE_RECURSE ${PROJECT_SOURCE_DIR}/models/.DS_Store)
file(GLOB models_list LIST_DIRECTORIES true ${PROJECT_SOURCE_DIR}/models/*)
file(REMOVE_RECURSE ${PROJECT_SOURCE_DIR}/worlds/.DS_Store)
file(GLOB worlds_list LIST_DIRECTORIES true ${PROJECT_SOURCE_DIR}/worlds/*)
install(TARGETS ${plugins} mav_msgs nav_msgs std_msgs sensor_msgs DESTINATION ${PLUGIN_PATH})
install(DIRECTORY ${models_list} DESTINATION ${MODEL_PATH})
install(FILES ${worlds_list} DESTINATION ${RESOURCE_PATH}/worlds)
configure_file(src/setup.sh.in "${CMAKE_CURRENT_BINARY_DIR}/setup.sh" @ONLY)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${RESOURCE_PATH})
install(FILES ${PROJECT_SOURCE_DIR}/package.xml DESTINATION ${RESOURCE_PATH})
#############
## Testing ##
#############
# TODO
###############
## Packaging ##
###############
set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION})
set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
set(CPACK_PACKAGE_CONTACT [email protected])
set(DEBIAN_PACKAGE_DEPENDS "")
set(RPM_PACKAGE_DEPENDS "")
set(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_PACKAGE_DEPENDS})
set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "gazebo plugins for px4 sitl.")
set(CPACK_RPM_PACKAGE_REQUIRES "${DEBIAN_PACKAGE_DEPENDS}")
set(CPACK_RPM_PACKAGE_DESCRIPTION "Gazebo plugins for px4 sitl.")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION}-${PROJECT_VERSION}")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION}-${PROJECT_VERSION}")
include(CPack)