cleanup ros-pkg

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-16 00:00:20 +08:00 · 2014-03-03 21:43:20 +00:00
parent 7d58681f34
commit 1764c88f05
136 changed files with 0 additions and 0 deletions
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+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS 
+             cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs 
+             image_transport tf tf_conversions laser_geometry pcl_conversions 
+             pcl_ros nodelet dynamic_reconfigure
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+find_package(RTABMap 0.6 REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+add_message_files(
+   FILES
+   Info.msg
+   InfoEx.msg
+   KeyPoint.msg
+   MapData.msg
+   Bytes.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+   DEPENDENCIES
+   std_msgs
+   geometry_msgs
+)
+
+#add dynamic reconfigure api
+generate_dynamic_reconfigure_options(cfg/Camera.cfg)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_ros
+  CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs 
+                 image_transport tf tf_conversions laser_geometry pcl_conversions 
+                 pcl_ros nodelet dynamic_reconfigure
+  DEPENDS RTABMap
+)
+
+###########
+## Build ##
+###########
+
+MESSAGE(STATUS "RTABMap_INCLUDE_DIRS=${RTABMap_INCLUDE_DIRS}")
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${RTABMap_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+add_library(rtabmap_ros
+   src/nodelets/data_throttle.cpp
+   src/nodelets/data_odom_sync.cpp
+   src/nodelets/point_cloud_xyzrgb.cpp 
+   src/MsgConversion.cpp
+)
+target_link_libraries(rtabmap_ros
+  ${catkin_LIBRARIES}
+  ${RTABMap_LIBRARIES}
+)
+
+add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp)
+add_dependencies(rtabmap rtabmap_generate_messages_cpp)
+target_link_libraries(rtabmap rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(visual_odometry src/VisualOdometryNode.cpp)
+target_link_libraries(visual_odometry rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(map_assembler src/MapAssemblerNode.cpp)
+target_link_libraries(map_assembler rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(grid_map_assembler src/GridMapAssemblerNode.cpp)
+target_link_libraries(grid_map_assembler rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(camera src/CameraNode.cpp)
+add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
+target_link_libraries(camera ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+#Qt stuff
+FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
+INCLUDE(${QT_USE_FILE})
+add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
+target_link_libraries(rtabmapviz rtabmap_ros ${QT_LIBRARIES} ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(data_recorder src/DataRecorderNode.cpp)
+target_link_libraries(data_recorder rtabmap_ros ${catkin_LIBRARIES} ${QT_LIBRARIES} ${RTABMap_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS rtabmap rtabmap_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_rtabmap.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)