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CMake: explicitly include PCL headers and libraries, prefixed all targets with "rtabmap" to avoid conflicts with targets named identically from other packages

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matlabbe
2018-11-10 11:55:14 -05:00
parent cf51c16da8
commit 025c4cd323
1 changed files with 65 additions and 49 deletions
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CMakeLists.txt
+65 -49
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@@ -159,12 +159,14 @@ include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/include
${RTABMap_INCLUDE_DIRS} ${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
) )
# libraries # libraries
SET(Libraries SET(Libraries
${OpenCV_LIBRARIES} ${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${catkin_LIBRARIES} ${catkin_LIBRARIES}
${RTABMap_LIBRARIES} ${RTABMap_LIBRARIES}
) )
@@ -295,43 +297,54 @@ add_dependencies(rtabmap_ros ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_executable(rtabmap src/CoreNode.cpp) add_executable(rtabmap src/CoreNode.cpp)
target_link_libraries(rtabmap ${Libraries}) target_link_libraries(rtabmap ${Libraries})
add_executable(rgbd_odometry src/RGBDOdometryNode.cpp) add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
target_link_libraries(rgbd_odometry ${Libraries}) target_link_libraries(rtabmap_rgbd_odometry ${Libraries})
set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
add_executable(stereo_odometry src/StereoOdometryNode.cpp) add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
target_link_libraries(stereo_odometry ${Libraries}) target_link_libraries(rtabmap_stereo_odometry ${Libraries})
set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
add_executable(rgbdicp_odometry src/RGBDICPOdometryNode.cpp) add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
target_link_libraries(rgbdicp_odometry ${Libraries}) target_link_libraries(rtabmap_rgbdicp_odometry ${Libraries})
set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
add_executable(icp_odometry src/ICPOdometryNode.cpp) add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
target_link_libraries(icp_odometry ${Libraries}) target_link_libraries(rtabmap_icp_odometry ${Libraries})
set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
add_executable(map_optimizer src/MapOptimizerNode.cpp) add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
target_link_libraries(map_optimizer rtabmap_ros ${Libraries}) target_link_libraries(rtabmap_map_optimizer rtabmap_ros ${Libraries})
set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
add_executable(map_assembler src/MapAssemblerNode.cpp) add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
target_link_libraries(map_assembler rtabmap_ros ${Libraries}) target_link_libraries(rtabmap_map_assembler rtabmap_ros ${Libraries})
set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
add_executable(wifi_signal_pub src/WifiSignalPubNode.cpp) add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
target_link_libraries(wifi_signal_pub rtabmap_ros ${Libraries}) target_link_libraries(rtabmap_wifi_signal_pub rtabmap_ros ${Libraries})
add_executable(wifi_signal_sub src/WifiSignalSubNode.cpp) set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
target_link_libraries(wifi_signal_sub rtabmap_ros ${Libraries}) add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
target_link_libraries(rtabmap_wifi_signal_sub rtabmap_ros ${Libraries})
set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
# If find_object_2d is found, add save objects example # If find_object_2d is found, add save objects example
IF(find_object_2d_FOUND) IF(find_object_2d_FOUND)
MESSAGE(STATUS "WITH find_object_2d") MESSAGE(STATUS "WITH find_object_2d")
include_directories(${find_object_2d_INCLUDE_DIRS}) include_directories(${find_object_2d_INCLUDE_DIRS})
add_executable(save_objects_example src/SaveObjectsExample.cpp) add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
target_link_libraries(save_objects_example rtabmap_ros ${Libraries} ${find_object_2d_LIBRARIES}) target_link_libraries(rtabmap_save_objects_example rtabmap_ros ${Libraries} ${find_object_2d_LIBRARIES})
set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
ENDIF(find_object_2d_FOUND) ENDIF(find_object_2d_FOUND)
add_executable(camera src/CameraNode.cpp) add_executable(rtabmap_camera src/CameraNode.cpp)
add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS}) add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(camera ${Libraries}) target_link_libraries(rtabmap_camera ${Libraries})
set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
add_executable(stereo_camera src/StereoCameraNode.cpp) add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp)
target_link_libraries(stereo_camera rtabmap_ros ${Libraries}) target_link_libraries(rtabmap_stereo_camera rtabmap_ros ${Libraries})
set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
IF(RTABMAP_GUI) IF(RTABMAP_GUI)
add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp) add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
@@ -343,14 +356,17 @@ ELSE()
MESSAGE(WARNING "Found RTAB-Map built without its GUI library. Node rtabmapviz will not be built!") MESSAGE(WARNING "Found RTAB-Map built without its GUI library. Node rtabmapviz will not be built!")
ENDIF() ENDIF()
add_executable(data_player src/DbPlayerNode.cpp) add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
target_link_libraries(data_player rtabmap_ros ${Libraries}) target_link_libraries(rtabmap_data_player rtabmap_ros ${Libraries})
set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
add_executable(odom_msg_to_tf src/OdomMsgToTFNode.cpp) add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
target_link_libraries(odom_msg_to_tf rtabmap_ros ${Libraries}) target_link_libraries(rtabmap_odom_msg_to_tf rtabmap_ros ${Libraries})
set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
add_executable(pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp) add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
target_link_libraries(pointcloud_to_depthimage rtabmap_ros ${Libraries}) target_link_libraries(rtabmap_pointcloud_to_depthimage rtabmap_ros ${Libraries})
set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
############# #############
## Install ## ## Install ##
@@ -372,16 +388,16 @@ install(TARGETS
rtabmap_ros rtabmap_ros
rtabmap rtabmap
rtabmapviz rtabmapviz
rgbd_odometry rtabmap_rgbd_odometry
icp_odometry rtabmap_icp_odometry
rgbdicp_odometry rtabmap_rgbdicp_odometry
stereo_odometry rtabmap_stereo_odometry
map_assembler rtabmap_map_assembler
map_optimizer rtabmap_map_optimizer
data_player rtabmap_data_player
odom_msg_to_tf rtabmap_odom_msg_to_tf
pointcloud_to_depthimage rtabmap_pointcloud_to_depthimage
camera rtabmap_camera
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -390,16 +406,16 @@ install(TARGETS
install(TARGETS install(TARGETS
rtabmap_ros rtabmap_ros
rtabmap rtabmap
rgbd_odometry rtabmap_rgbd_odometry
icp_odometry rtabmap_icp_odometry
rgbdicp_odometry rtabmap_rgbdicp_odometry
stereo_odometry rtabmap_stereo_odometry
map_assembler rtabmap_map_assembler
map_optimizer rtabmap_map_optimizer
data_player rtabmap_data_player
odom_msg_to_tf rtabmap_odom_msg_to_tf
pointcloud_to_depthimage rtabmap_pointcloud_to_depthimage
camera rtabmap_camera
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}