First version rtabmap_launch working

rtabmap_costmap_plugins/CMakeLists.txt

@@ -0,0 +1,67 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap_costmap_plugins)
+
+##################
+## Dependencies ##
+##################
+
+find_package(catkin REQUIRED COMPONENTS roscpp pcl_conversions costmap_2d)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_costmap_plugins rtabmap_costmap_plugins2
+  CATKIN_DEPENDS roscpp pcl_conversions costmap_2d
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${catkin_INCLUDE_DIRS}
+)
+
+IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
+  ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
+ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
+add_library(rtabmap_costmap_plugins
+   src/static_layer.cpp
+)
+add_library(rtabmap_costmap_plugins2
+   src/voxel_layer.cpp
+)
+target_link_libraries(rtabmap_costmap_plugins
+  ${catkin_LIBRARIES}
+)
+target_link_libraries(rtabmap_costmap_plugins2
+  ${catkin_LIBRARIES}
+)
+add_executable(rtabmap_costmap_voxel_markers src/voxel_markers.cpp)
+target_link_libraries(rtabmap_costmap_voxel_markers ${catkin_LIBRARIES})
+set_target_properties(rtabmap_costmap_voxel_markers PROPERTIES OUTPUT_NAME "voxel_markers")
+
+
+#############
+## Install ##
+#############
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h"
+)
+
+install(TARGETS 
+   rtabmap_costmap_plugins
+   rtabmap_costmap_plugins2
+   rtabmap_costmap_voxel_markers
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
+install(FILES
+   costmap_plugins.xml
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+