ZJU-FAST-Lab · ErcBunny · Oct 15, 2023 · Oct 15, 2023 · Oct 16, 2023 · Oct 16, 2023
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,6 @@
+__pycache__
+.vscode/
+build/
+devel/
+logs/
+.catkin_tools
diff --git a/README.md b/README.md
@@ -5,6 +5,8 @@ Swarm Playground, the codebase of the paper "[Swarm of micro flying robots in th
 
 Please follow the [tutorial PDF file](swarm-playground/[README]_Brief_Documentation_for_Swarm_Playground.pdf) with corresponding videos ([1](swarm-playground/main_ws/WatchMe_main.mp4), [2](swarm-playground/formation_ws/WatchMe_formation.mp4), [3](swarm-playground/tracking_ws/WatchMe_tracking.mp4), [4](swarm-playground/interlaced_flight_ws/WatchMe_interlaced_flights.mp4)) to run the code.
 
+For Ubuntu 22 (or other distros) users, a quick way to get started is to use [RoboStack](https://robostack.github.io/GettingStarted.html)'s ROS Noetic in the Conda virtual environment. Instructions can be found [here](./swarm-playground/[README]_Addtional_Instructions_for_Ubuntu22.md).
+
 This work was born out of [MINCO](https://github.com/ZJU-FAST-Lab/GCOPTER).
 If you find it interesting, please give both repos stars generously. Thanks.
 

diff --git a/swarm-playground/[README]_Addtional_Instructions_for_Ubuntu22.md b/swarm-playground/[README]_Addtional_Instructions_for_Ubuntu22.md
@@ -0,0 +1,18 @@
+# Getting Started with "Conda ROS"
+
+First please install `mamba`, which is a faster version of `conda` and defaults to the `conda-forge` channel. Then you can run the following to set up the environment.
+
+```sh
+mamba create -n ego-v2 python=3.9 -y
+mamba activate ego-v2
+
+mamba install ros-noetic-desktop-full=1.5.0 -c robostack-staging -y
+mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools -y
+mamba install armadillo=12.6.5 -y
+
+# reactivate the env to prevent permission issues
+mamba deactivate
+mamba activate ego-v2
+```
+
+With this environment activated you can run ROS commands as normal. For further instructions please refer to the [tutorial pdf](./[README]_Brief_Documentation_for_Swarm_Playground.pdf).
diff --git a/swarm-playground/formation_ws/src/CMakeLists.txt b/swarm-playground/formation_ws/src/CMakeLists.txt
diff --git a/swarm-playground/formation_ws/src/Utils/odom_visualization/CMakeLists.txt b/swarm-playground/formation_ws/src/Utils/odom_visualization/CMakeLists.txt
@@ -37,7 +37,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(odom_visualization)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-O3 -Wall -g")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g")
 ADD_COMPILE_OPTIONS(-std=c++11 )
 ADD_COMPILE_OPTIONS(-std=c++14 )
 

diff --git a/swarm-playground/formation_ws/src/Utils/pose_utils/CMakeLists.txt b/swarm-playground/formation_ws/src/Utils/pose_utils/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(pose_utils)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-O3 -Wall -g")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g")
 ADD_COMPILE_OPTIONS(-std=c++11 )
 ADD_COMPILE_OPTIONS(-std=c++14 )
 

diff --git a/swarm-playground/formation_ws/src/Utils/rviz_plugins/CMakeLists.txt b/swarm-playground/formation_ws/src/Utils/rviz_plugins/CMakeLists.txt
@@ -21,7 +21,7 @@ catkin_package(
 
 if(rviz_QT_VERSION VERSION_LESS "5")
   message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
-  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+  find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
   ## pull in all required include dirs, define QT_LIBRARIES, etc.
   include(${QT_USE_FILE})
   qt4_wrap_cpp(MOC_FILES
@@ -30,7 +30,7 @@ if(rviz_QT_VERSION VERSION_LESS "5")
 
 else()
   message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
-  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+  find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
   ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
   set(QT_LIBRARIES Qt5::Widgets)
   qt5_wrap_cpp(MOC_FILES

diff --git a/swarm-playground/formation_ws/src/planner/swarm_bridge/CMakeLists.txt b/swarm-playground/formation_ws/src/planner/swarm_bridge/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(Eigen3 REQUIRED)
 
 set(ENABLE_TCP false) # requires zmq, zmqpp 
 
+find_package(Boost REQUIRED COMPONENTS system filesystem thread)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
@@ -35,6 +36,7 @@ add_executable(bridge_node_udp
   )
 target_link_libraries(bridge_node_udp 
   ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
   )
 
 if(ENABLE_TCP)
@@ -46,6 +48,7 @@ if(ENABLE_TCP)
     ${catkin_LIBRARIES}
     zmq
     zmqpp
+    ${Boost_LIBRARIES}
     )
 
 endif(ENABLE_TCP)
@@ -55,6 +58,7 @@ add_executable(traj2odom_node
   )
 target_link_libraries(traj2odom_node 
   ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
   )
 
 
diff --git a/swarm-playground/formation_ws/src/planner/traj_utils/CMakeLists.txt b/swarm-playground/formation_ws/src/planner/traj_utils/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(traj_utils)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 # set(ENABLE_PRECOMPILED_HEADERS "OFF")
 

diff --git a/swarm-playground/formation_ws/src/uav_simulator/local_sensing/CMakeLists.txt b/swarm-playground/formation_ws/src/uav_simulator/local_sensing/CMakeLists.txt
@@ -65,6 +65,7 @@ if(ENABLE_CUDA)
     ${catkin_LIBRARIES}
   )
 else(ENABLE_CUDA)
+  find_package(PCL REQUIRED)
   find_package(Eigen3 REQUIRED)
   find_package(catkin REQUIRED COMPONENTS
       roscpp roslib cmake_modules pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs)

diff --git a/swarm-playground/formation_ws/src/uav_simulator/mockamap/CMakeLists.txt b/swarm-playground/formation_ws/src/uav_simulator/mockamap/CMakeLists.txt
@@ -12,6 +12,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
+find_package(PCL REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   pcl_ros
@@ -156,6 +157,7 @@ add_executable(${PROJECT_NAME}_node
 ## Specify libraries to link a library or executable target against
  target_link_libraries(${PROJECT_NAME}_node
    ${catkin_LIBRARIES}
+   ${PCL_LIBRARIES}
  )
 
 #############

diff --git a/swarm-playground/formation_ws/src/uav_simulator/mockamap/include/maps.hpp b/swarm-playground/formation_ws/src/uav_simulator/mockamap/include/maps.hpp
@@ -1,6 +1,7 @@
 #ifndef MAPS_HPP
 #define MAPS_HPP
 
+#include <deque>
 #include <ros/ros.h>
 
 #include <pcl/point_cloud.h>

diff --git a/swarm-playground/formation_ws/src/uav_simulator/so3_control/CMakeLists.txt b/swarm-playground/formation_ws/src/uav_simulator/so3_control/CMakeLists.txt
@@ -46,7 +46,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(so3_control)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 
 ## Find catkin macros and libraries

diff --git a/swarm-playground/formation_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/swarm-playground/formation_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt
@@ -4,7 +4,7 @@ project(so3_quadrotor_simulator)
 add_compile_options(-std=c++11)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt
diff --git a/swarm-playground/interlaced_flight_ws/src/Utils/odom_visualization/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/Utils/odom_visualization/CMakeLists.txt
@@ -37,7 +37,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(odom_visualization)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-O3 -Wall -g")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g")
 ADD_COMPILE_OPTIONS(-std=c++11 )
 ADD_COMPILE_OPTIONS(-std=c++14 )
 

diff --git a/swarm-playground/interlaced_flight_ws/src/Utils/pose_utils/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/Utils/pose_utils/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(pose_utils)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-O3 -Wall -g")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g")
 ADD_COMPILE_OPTIONS(-std=c++11 )
 ADD_COMPILE_OPTIONS(-std=c++14 )
 

diff --git a/swarm-playground/interlaced_flight_ws/src/Utils/rviz_plugins/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/Utils/rviz_plugins/CMakeLists.txt
@@ -22,7 +22,7 @@ catkin_package(
 
 if(rviz_QT_VERSION VERSION_LESS "5")
   message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
-  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+  find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
   ## pull in all required include dirs, define QT_LIBRARIES, etc.
   include(${QT_USE_FILE})
   qt4_wrap_cpp(MOC_FILES
@@ -31,7 +31,7 @@ if(rviz_QT_VERSION VERSION_LESS "5")
 
 else()
   message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
-  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+  find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
   ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
   set(QT_LIBRARIES Qt5::Widgets)
   qt5_wrap_cpp(MOC_FILES

diff --git a/...playground/interlaced_flight_ws/src/Utils/selected_points_publisher-master/CMakeLists.txt b/...playground/interlaced_flight_ws/src/Utils/selected_points_publisher-master/CMakeLists.txt
@@ -6,7 +6,7 @@ catkin_package()
 include_directories(include ${catkin_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS})
 
-find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets Quick)
+find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets Quick)
 set(QT_LIBRARIES Qt5::Widgets)
 qt5_wrap_cpp(MOC_FILES
   include/selected_points_publisher/selected_points_publisher.hpp

diff --git a/swarm-playground/interlaced_flight_ws/src/planner/swarm_bridge/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/planner/swarm_bridge/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(Eigen3 REQUIRED)
 
 set(ENABLE_TCP false) # requires zmq, zmqpp 
 
+find_package(Boost REQUIRED COMPONENTS system filesystem thread)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
@@ -35,6 +36,7 @@ add_executable(bridge_node_udp
   )
 target_link_libraries(bridge_node_udp 
   ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
   )
 
 if(ENABLE_TCP)
@@ -46,6 +48,7 @@ if(ENABLE_TCP)
     ${catkin_LIBRARIES}
     zmq
     zmqpp
+    ${Boost_LIBRARIES}
     )
 
 endif(ENABLE_TCP)
@@ -55,6 +58,7 @@ add_executable(traj2odom_node
   )
 target_link_libraries(traj2odom_node 
   ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
   )
 
 
diff --git a/swarm-playground/interlaced_flight_ws/src/planner/traj_utils/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/planner/traj_utils/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(traj_utils)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 # set(ENABLE_PRECOMPILED_HEADERS "OFF")
 

diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/local_sensing/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/uav_simulator/local_sensing/CMakeLists.txt
@@ -65,6 +65,7 @@ if(ENABLE_CUDA)
     ${catkin_LIBRARIES}
   )
 else(ENABLE_CUDA)
+  find_package(PCL REQUIRED)
   find_package(Eigen3 REQUIRED)
   find_package(catkin REQUIRED COMPONENTS
       roscpp roslib cmake_modules pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs)

diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/CMakeLists.txt
@@ -12,6 +12,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
+find_package(PCL REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   pcl_ros
@@ -156,6 +157,7 @@ add_executable(${PROJECT_NAME}_node
 ## Specify libraries to link a library or executable target against
  target_link_libraries(${PROJECT_NAME}_node
    ${catkin_LIBRARIES}
+   ${PCL_LIBRARIES}
  )
 
 #############

diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/include/maps.hpp b/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/include/maps.hpp
@@ -1,6 +1,7 @@
 #ifndef MAPS_HPP
 #define MAPS_HPP
 
+#include <deque>
 #include <ros/ros.h>
 
 #include <pcl/point_cloud.h>

diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_control/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_control/CMakeLists.txt
@@ -46,7 +46,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(so3_control)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 
 ## Find catkin macros and libraries

diff --git a/...-playground/interlaced_flight_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/...-playground/interlaced_flight_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt
@@ -4,7 +4,7 @@ project(so3_quadrotor_simulator)
 add_compile_options(-std=c++11)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/swarm-playground/main_ws/src/CMakeLists.txt b/swarm-playground/main_ws/src/CMakeLists.txt
diff --git a/swarm-playground/main_ws/src/Utils/odom_visualization/CMakeLists.txt b/swarm-playground/main_ws/src/Utils/odom_visualization/CMakeLists.txt
@@ -37,7 +37,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(odom_visualization)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-O3 -Wall -g")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g")
 ADD_COMPILE_OPTIONS(-std=c++11 )
 ADD_COMPILE_OPTIONS(-std=c++14 )
 

diff --git a/swarm-playground/main_ws/src/Utils/pose_utils/CMakeLists.txt b/swarm-playground/main_ws/src/Utils/pose_utils/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(pose_utils)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-O3 -Wall -g")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g")
 ADD_COMPILE_OPTIONS(-std=c++11 )
 ADD_COMPILE_OPTIONS(-std=c++14 )
 

diff --git a/swarm-playground/main_ws/src/Utils/rviz_plugins/CMakeLists.txt b/swarm-playground/main_ws/src/Utils/rviz_plugins/CMakeLists.txt
@@ -22,7 +22,7 @@ catkin_package(
 
 if(rviz_QT_VERSION VERSION_LESS "5")
   message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
-  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+  find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
   ## pull in all required include dirs, define QT_LIBRARIES, etc.
   include(${QT_USE_FILE})
   qt4_wrap_cpp(MOC_FILES
@@ -31,7 +31,7 @@ if(rviz_QT_VERSION VERSION_LESS "5")
 
 else()
   message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
-  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+  find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
   ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
   set(QT_LIBRARIES Qt5::Widgets)
   qt5_wrap_cpp(MOC_FILES

diff --git a/swarm-playground/main_ws/src/Utils/selected_points_publisher/CMakeLists.txt b/swarm-playground/main_ws/src/Utils/selected_points_publisher/CMakeLists.txt
@@ -6,7 +6,7 @@ catkin_package()
 include_directories(include ${catkin_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS})
 
-find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets Quick)
+find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets Quick)
 set(QT_LIBRARIES Qt5::Widgets)
 qt5_wrap_cpp(MOC_FILES
   include/selected_points_publisher/selected_points_publisher.hpp

diff --git a/swarm-playground/main_ws/src/planner/swarm_bridge/CMakeLists.txt b/swarm-playground/main_ws/src/planner/swarm_bridge/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(Eigen3 REQUIRED)
 
 set(ENABLE_TCP false) # requires zmq, zmqpp 
 
+find_package(Boost REQUIRED COMPONENTS system filesystem thread)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
@@ -35,6 +36,7 @@ add_executable(bridge_node_udp
   )
 target_link_libraries(bridge_node_udp 
   ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
   )
 
 if(ENABLE_TCP)
@@ -46,6 +48,7 @@ if(ENABLE_TCP)
     ${catkin_LIBRARIES}
     zmq
     zmqpp
+    ${Boost_LIBRARIES}
     )
 
 endif(ENABLE_TCP)
@@ -55,6 +58,7 @@ add_executable(traj2odom_node
   )
 target_link_libraries(traj2odom_node 
   ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
   )
 
 
diff --git a/swarm-playground/main_ws/src/planner/traj_utils/CMakeLists.txt b/swarm-playground/main_ws/src/planner/traj_utils/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(traj_utils)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 # set(ENABLE_PRECOMPILED_HEADERS "OFF")