mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
CMake: explicitly include PCL headers and libraries, prefixed all targets with "rtabmap" to avoid conflicts with targets named identically from other packages
This commit is contained in:
matlabbe
+65
-49
@@ -159,12 +159,14 @@ include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${RTABMap_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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# libraries
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SET(Libraries
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${OpenCV_LIBRARIES}
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${PCL_LIBRARIES}
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${catkin_LIBRARIES}
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${RTABMap_LIBRARIES}
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)
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@@ -295,43 +297,54 @@ add_dependencies(rtabmap_ros ${${PROJECT_NAME}_EXPORTED_TARGETS})
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add_executable(rtabmap src/CoreNode.cpp)
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target_link_libraries(rtabmap ${Libraries})
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add_executable(rgbd_odometry src/RGBDOdometryNode.cpp)
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target_link_libraries(rgbd_odometry ${Libraries})
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add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
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target_link_libraries(rtabmap_rgbd_odometry ${Libraries})
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set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
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add_executable(stereo_odometry src/StereoOdometryNode.cpp)
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target_link_libraries(stereo_odometry ${Libraries})
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add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
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target_link_libraries(rtabmap_stereo_odometry ${Libraries})
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set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
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add_executable(rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
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target_link_libraries(rgbdicp_odometry ${Libraries})
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add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
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target_link_libraries(rtabmap_rgbdicp_odometry ${Libraries})
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set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
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add_executable(icp_odometry src/ICPOdometryNode.cpp)
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target_link_libraries(icp_odometry ${Libraries})
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add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
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target_link_libraries(rtabmap_icp_odometry ${Libraries})
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set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
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add_executable(map_optimizer src/MapOptimizerNode.cpp)
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target_link_libraries(map_optimizer rtabmap_ros ${Libraries})
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add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
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target_link_libraries(rtabmap_map_optimizer rtabmap_ros ${Libraries})
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set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
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add_executable(map_assembler src/MapAssemblerNode.cpp)
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target_link_libraries(map_assembler rtabmap_ros ${Libraries})
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add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
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target_link_libraries(rtabmap_map_assembler rtabmap_ros ${Libraries})
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set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
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add_executable(wifi_signal_pub src/WifiSignalPubNode.cpp)
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target_link_libraries(wifi_signal_pub rtabmap_ros ${Libraries})
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add_executable(wifi_signal_sub src/WifiSignalSubNode.cpp)
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target_link_libraries(wifi_signal_sub rtabmap_ros ${Libraries})
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add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
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target_link_libraries(rtabmap_wifi_signal_pub rtabmap_ros ${Libraries})
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set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
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add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
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target_link_libraries(rtabmap_wifi_signal_sub rtabmap_ros ${Libraries})
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set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
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# If find_object_2d is found, add save objects example
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IF(find_object_2d_FOUND)
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MESSAGE(STATUS "WITH find_object_2d")
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include_directories(${find_object_2d_INCLUDE_DIRS})
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add_executable(save_objects_example src/SaveObjectsExample.cpp)
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target_link_libraries(save_objects_example rtabmap_ros ${Libraries} ${find_object_2d_LIBRARIES})
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add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
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target_link_libraries(rtabmap_save_objects_example rtabmap_ros ${Libraries} ${find_object_2d_LIBRARIES})
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set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
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ENDIF(find_object_2d_FOUND)
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add_executable(camera src/CameraNode.cpp)
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add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
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target_link_libraries(camera ${Libraries})
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add_executable(rtabmap_camera src/CameraNode.cpp)
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add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
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target_link_libraries(rtabmap_camera ${Libraries})
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set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
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add_executable(stereo_camera src/StereoCameraNode.cpp)
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target_link_libraries(stereo_camera rtabmap_ros ${Libraries})
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add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp)
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target_link_libraries(rtabmap_stereo_camera rtabmap_ros ${Libraries})
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set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
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IF(RTABMAP_GUI)
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add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
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@@ -343,14 +356,17 @@ ELSE()
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MESSAGE(WARNING "Found RTAB-Map built without its GUI library. Node rtabmapviz will not be built!")
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ENDIF()
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add_executable(data_player src/DbPlayerNode.cpp)
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target_link_libraries(data_player rtabmap_ros ${Libraries})
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add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
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target_link_libraries(rtabmap_data_player rtabmap_ros ${Libraries})
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set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
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add_executable(odom_msg_to_tf src/OdomMsgToTFNode.cpp)
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target_link_libraries(odom_msg_to_tf rtabmap_ros ${Libraries})
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add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
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target_link_libraries(rtabmap_odom_msg_to_tf rtabmap_ros ${Libraries})
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set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
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add_executable(pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
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target_link_libraries(pointcloud_to_depthimage rtabmap_ros ${Libraries})
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add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
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target_link_libraries(rtabmap_pointcloud_to_depthimage rtabmap_ros ${Libraries})
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set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
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#############
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## Install ##
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@@ -372,16 +388,16 @@ install(TARGETS
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rtabmap_ros
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rtabmap
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rtabmapviz
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rgbd_odometry
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icp_odometry
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rgbdicp_odometry
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stereo_odometry
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map_assembler
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map_optimizer
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data_player
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odom_msg_to_tf
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pointcloud_to_depthimage
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camera
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rtabmap_rgbd_odometry
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rtabmap_icp_odometry
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rtabmap_rgbdicp_odometry
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rtabmap_stereo_odometry
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rtabmap_map_assembler
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rtabmap_map_optimizer
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rtabmap_data_player
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rtabmap_odom_msg_to_tf
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rtabmap_pointcloud_to_depthimage
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rtabmap_camera
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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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@@ -390,16 +406,16 @@ install(TARGETS
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install(TARGETS
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rtabmap_ros
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rtabmap
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rgbd_odometry
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icp_odometry
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rgbdicp_odometry
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stereo_odometry
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map_assembler
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map_optimizer
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data_player
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odom_msg_to_tf
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pointcloud_to_depthimage
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camera
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rtabmap_rgbd_odometry
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rtabmap_icp_odometry
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rtabmap_rgbdicp_odometry
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rtabmap_stereo_odometry
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rtabmap_map_assembler
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rtabmap_map_optimizer
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rtabmap_data_player
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rtabmap_odom_msg_to_tf
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rtabmap_pointcloud_to_depthimage
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rtabmap_camera
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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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