First version rtabmap_launch working

rtabmap_conversions/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap_conversions)
+
+find_package(catkin REQUIRED COMPONENTS
+             cv_bridge roscpp sensor_msgs std_msgs geometry_msgs
+             tf tf_conversions eigen_conversions laser_geometry pcl_conversions 
+             image_geometry rtabmap_msgs
+)
+
+find_package(RTABMap 0.21.0 REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_conversions
+  CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs geometry_msgs
+             tf tf_conversions eigen_conversions laser_geometry pcl_conversions 
+             image_geometry rtabmap_msgs
+  DEPENDS RTABMap
+)
+
+###########
+## Build ##
+###########
+
+## 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
+  ${catkin_INCLUDE_DIRS}
+)
+
+# libraries
+SET(Libraries
+   rtabmap
+   ${catkin_LIBRARIES}
+)
+
+SET(rtabmap_conversions_lib_src
+   src/MsgConversion.cpp
+)
+
+############################
+## Declare a cpp library
+############################
+add_library(rtabmap_conversions
+   ${rtabmap_conversions_lib_src}
+)
+
+target_link_libraries(rtabmap_conversions
+  ${Libraries}
+)
+
+#############
+## Install ##
+#############
+
+install(TARGETS 
+   rtabmap_conversions
+   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"
+)