\documentclass[tikz]{standalone}
%
% This is a direct copy of the codes in section 2.9 of the package
% documentation (See page 45) https://mirrors.tuna.tsinghua.edu.cn/CTAN/graphics/pgf/contrib/pgfgantt/pgfgantt.pdf 
% except the color setting
\usepackage{pgfgantt}
\usepackage{xcolor}
\usepackage[utf8]{inputenc}
\definecolor{barblue}{RGB}{153,204,254}
\definecolor{groupblue}{RGB}{51,102,254}
\definecolor{linkred}{RGB}{165,0,33} 
\begin{document}
\begin{ganttchart}[
    y unit title=0.4cm,
    y unit chart=0.5cm,
    vgrid,
    time slot format=isodate-yearmonth,
    compress calendar,
    title/.append style={draw=none, fill=barblue},
    title label font=\sffamily\bfseries\color{white},
    title label node/.append style={below=-1.6ex},
    title left shift=.05,
    title right shift=-.05,
    title height=1,
    bar/.append style={draw=none, fill=groupblue},
    bar height=.6,
    bar label font=\normalsize\color{black!50},
    group right shift=0,
    group top shift=.6,
    group height=.3,
    group peaks height=.2,
    bar incomplete/.append style={fill=green}
   ]{2010-09}{2011-12}
   \gantttitlecalendar{year}\\
   \ganttbar[
    progress=100,
    bar progress label font=\small\color{barblue},
    bar progress label node/.append style={right=4pt},
    bar label font=\normalsize\color{barblue},
    name=pp
   ]{Preliminary Project}{2010-09}{2010-12} \\
\ganttset{progress label text={}, link/.style={black, -to}}
\ganttgroup{Objective 1}{2011-01}{2011-12} \\
\ganttbar[progress=4, name=T1A]{Task A}{2011-01}{2011-06} \\
\ganttlinkedbar[progress=0]{Task B}{2011-07}{2011-12} \\
\ganttgroup{Objective 2}{2011-01}{2011-12} \\
\ganttbar[progress=15, name=T2A]{Task A}{2011-01}{2011-09} \\
\ganttlinkedbar[progress=0]{Task B}{2011-10}{2011-12} \\
\ganttgroup{Objective 3}{2011-05}{2011-08} \\
  \ganttbar[progress=0]{Task A}{2011-05}{2011-08}
  \ganttset{link/.style={green}}
  \ganttlink[link mid=.4]{pp}{T1A}
  \ganttlink[link mid=.159]{pp}{T2A}
\end{ganttchart}
\end{document}