Major release 3.2.0! This release brings support for LiDAR collision …

…avoidance and LiDAR Mapping. A number of bugfixes and improvements are also added. See Release notes for more!

contrib/External_CollisionAvoidance.cmake

@@ -0,0 +1,24 @@
+include(ExternalProject)
+message( "External project - DJI Collision Avoidance" )
+
+set(VERSION "1.0.0")
+set(PROJECT_NAME dji-ros-collision-avoidance)
+set(PKG_NAME collision-avoidance)
+
+ExternalProject_Add(${PROJECT_NAME}
+  UPDATE_COMMAND ""
+  GIT_REPOSITORY https://github.com/dji-sdk/Onboard-SDK-Resources.git 
+  GIT_TAG ${PKG_NAME}-${VERSION}
+  PATCH_COMMAND ""
+  )
+
+ExternalProject_Get_Property(${PROJECT_NAME} source_dir)
+
+add_custom_command(TARGET ${PROJECT_NAME} POST_BUILD 
+  COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/../../../${PROJECT_NAME})
+
+add_custom_command( TARGET ${PROJECT_NAME} POST_BUILD
+  COMMAND ${CMAKE_COMMAND} -E tar xzf ${source_dir}/${PKG_NAME}-${VERSION}.tar.gz
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/../../../${PROJECT_NAME}
+  )
+

contrib/External_GTest.cmake

@@ -0,0 +1,20 @@
+include(ExternalProject)
+message( "External project - GoogleTest" )
+
+if(GTEST)
+  if (CMAKE_SYSTEM_NAME MATCHES Linux)
+    find_package(Threads)
+    ExternalProject_Add(
+      googletest
+      # Disable update step
+      UPDATE_COMMAND ""
+      GIT_REPOSITORY https://github.com/google/googletest.git
+      CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
+        -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
+        -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
+        -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
+        -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
+        -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/../../../devel)
+  endif ()
+endif ()
+

contrib/External_Pointcloud2Las.cmake

@@ -0,0 +1,24 @@
+include(ExternalProject)
+message( "External project - DJI Pointcloud to LAS Converter" )
+
+set(VERSION "1.0.0")
+set(PROJECT_NAME dji-ros-pointcloud2las)
+set(PKG_NAME pointcloud2las)
+
+ExternalProject_Add(${PROJECT_NAME}
+  UPDATE_COMMAND ""
+  GIT_REPOSITORY https://github.com/dji-sdk/Onboard-SDK-Resources.git 
+  GIT_TAG ${PKG_NAME}-${VERSION}
+  PATCH_COMMAND ""
+  )
+
+ExternalProject_Get_Property(${PROJECT_NAME} source_dir)
+
+add_custom_command(TARGET ${PROJECT_NAME} POST_BUILD 
+  COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/../../../${PROJECT_NAME})
+
+add_custom_command( TARGET ${PROJECT_NAME} POST_BUILD
+  COMMAND ${CMAKE_COMMAND} -E tar xzf ${source_dir}/${PKG_NAME}-${VERSION}.tar.gz
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/../../../${PROJECT_NAME}
+  )
+

dji_sdk/CMakeLists.txt

@@ -1,6 +1,12 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(dji_sdk)
 
+option(GTEST "Build with Google Test framework" ON)
+
+# Add module path for <name>.cmake conf files
+set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/Onboard-SDK-ROS/contrib)
+include(${CMAKE_MODULE_PATH}/External_GTest.cmake)
+
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
@@ -19,7 +25,6 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
-
 set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -166,7 +171,7 @@ catkin_package(
 ## Your package locations should be listed before other locations
 # include_directories(include)
 include_directories(
-	include
+  include
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -194,6 +199,54 @@ target_link_libraries(dji_sdk_node
   ${catkin_LIBRARIES}
 )
 
+#############
+## Testing ##
+#############
+find_package(rostest REQUIRED)
+find_package(GTest QUIET)
+
+if(GTEST_FOUND)
+  message("Found GTest on the system\n")
+endif()
+
+# Create a gtest executable with target name "dji_sdk_test"
+# which is not built by "make all" but only by "make tests"
+# add one/multiple source files to the executable target
+# register the rostest launch file "test/dji_sdk-node.test"
+add_rostest_gtest(${PROJECT_NAME}_test
+  test/${PROJECT_NAME}-node.test
+  src/test/${PROJECT_NAME}_test.cpp
+  src/modules/dji_sdk_node_actions.cpp
+  src/modules/dji_sdk_node_services.cpp
+  src/modules/dji_sdk_node_main.cpp
+  src/modules/dji_sdk_node_mission.cpp)
+
+if(TARGET ${PROJECT_NAME}_test)
+  add_dependencies(${PROJECT_NAME}_test
+    dji_sdk_generate_messages_cpp
+    dji_sdk_lib)
+
+  target_link_libraries(${PROJECT_NAME}_test
+     ${catkin_LIBRARIES}
+     dji_sdk_lib
+     gtest
+     gtest_main
+     pthread)
+endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+option(USE_COLLISION_AVOIDANCE "Use DJI collision avoidance library" OFF)
+if(USE_COLLISION_AVOIDANCE)
+  include(${CMAKE_MODULE_PATH}/External_CollisionAvoidance.cmake)
+endif()
+
+option(USE_POINTCLOUD2LAS "Use DJI Pointcloud to LAS converter library" OFF)
+if(USE_POINTCLOUD2LAS)
+  include(${CMAKE_MODULE_PATH}/External_Pointcloud2Las.cmake)
+endif()
+
 #############
 ## Install ##
 #############
@@ -236,15 +289,4 @@ install(DIRECTORY launch
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_dji_sdk.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)