2023-02-19 21:13:35 -08:00
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cmake_minimum_required(VERSION 3.5)
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2023-02-19 18:55:24 -08:00
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project(rtabmap_costmap_plugins)
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##################
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## Dependencies ##
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##################
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2023-03-05 19:00:19 -08:00
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find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure roscpp pcl_conversions costmap_2d)
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2023-02-19 18:55:24 -08:00
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES rtabmap_costmap_plugins rtabmap_costmap_plugins2
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CATKIN_DEPENDS roscpp pcl_conversions costmap_2d
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)
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###########
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## Build ##
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###########
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${catkin_INCLUDE_DIRS}
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)
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IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
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ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
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ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
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add_library(rtabmap_costmap_plugins
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src/static_layer.cpp
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)
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add_library(rtabmap_costmap_plugins2
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src/voxel_layer.cpp
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)
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target_link_libraries(rtabmap_costmap_plugins
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${catkin_LIBRARIES}
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)
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target_link_libraries(rtabmap_costmap_plugins2
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${catkin_LIBRARIES}
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)
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add_executable(rtabmap_costmap_voxel_markers src/voxel_markers.cpp)
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target_link_libraries(rtabmap_costmap_voxel_markers ${catkin_LIBRARIES})
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set_target_properties(rtabmap_costmap_voxel_markers PROPERTIES OUTPUT_NAME "voxel_markers")
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#############
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## Install ##
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#############
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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install(TARGETS
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rtabmap_costmap_plugins
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rtabmap_costmap_plugins2
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rtabmap_costmap_voxel_markers
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(FILES
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costmap_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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