UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-27 00:48:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Reduce dependency of gstreamer for gz simulation (#24676)

Browse Source 
Co-authored-by: jmackay2 <jmackay2@gmail.com>
This commit is contained in:
jmackay2
2025-04-05 00:22:25 -04:00
committed by GitHub
parent ef932ae8a1
commit 561937f35a
2 changed files with 34 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/simulation/gz_plugins/CMakeLists.txt
View File

@@ -57,5 +57,9 @@ if (gz-transport_FOUND)
add_subdirectory(gstreamer)
# Add an alias target for each plugin
add_custom_target(px4_gz_plugins ALL DEPENDS OpticalFlowSystem TemplatePlugin GstCameraSystem)
if (TARGET GstCameraSystem)
add_custom_target(px4_gz_plugins ALL DEPENDS OpticalFlowSystem TemplatePlugin GstCameraSystem)
else()
add_custom_target(px4_gz_plugins ALL DEPENDS OpticalFlowSystem TemplatePlugin)
endif()
endif()

54
src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
View File

@@ -35,32 +35,36 @@ project(GstCameraSystem)
# Find required packages
find_package(PkgConfig REQUIRED)
pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
pkg_check_modules(GSTREAMER_APP REQUIRED gstreamer-app-1.0)
pkg_check_modules(GSTREAMER gstreamer-1.0)
pkg_check_modules(GSTREAMER_APP gstreamer-app-1.0)
add_library(${PROJECT_NAME} SHARED
GstCameraSystem.cpp
)
if (NOT GSTREAMER_FOUND OR NOT GSTREAMER_APP_FOUND)
message(WARNING "GStreamer and Gstreamer App are required to build this plugin.")
else()
add_library(${PROJECT_NAME} SHARED
GstCameraSystem.cpp
)
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GSTREAMER_LIBRARIES}
PUBLIC ${GSTREAMER_APP_LIBRARIES}
)
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GSTREAMER_LIBRARIES}
PUBLIC ${GSTREAMER_APP_LIBRARIES}
)
target_include_directories(${PROJECT_NAME}
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
PUBLIC px4_gz_msgs
PUBLIC ${GSTREAMER_INCLUDE_DIRS}
PUBLIC ${GSTREAMER_APP_INCLUDE_DIRS}
)
target_include_directories(${PROJECT_NAME}
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
PUBLIC px4_gz_msgs
PUBLIC ${GSTREAMER_INCLUDE_DIRS}
PUBLIC ${GSTREAMER_APP_INCLUDE_DIRS}
)
target_compile_options(${PROJECT_NAME}
PRIVATE ${GSTREAMER_CFLAGS}
PRIVATE ${GSTREAMER_APP_CFLAGS}
)
target_compile_options(${PROJECT_NAME}
PRIVATE ${GSTREAMER_CFLAGS}
PRIVATE ${GSTREAMER_APP_CFLAGS}
)
endif()