First version rtabmap_launch working

2026-10-04 00:37:46 +08:00 · 2023-02-19 18:55:24 -08:00
parent 2f4aadacbb
commit 2dd931248e
418 changed files with 5304 additions and 3493 deletions
@@ -0,0 +1,97 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap_odom)
+
+find_package(catkin REQUIRED COMPONENTS
+             cv_bridge image_geometry laser_geometry message_filters 
+             nav_msgs nodelet pcl_conversions pcl_ros pluginlib roscpp 
+             sensor_msgs rtabmap_conversions rtabmap_msgs rtabmap_util
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_odom rtabmap_odom_plugins
+  CATKIN_DEPENDS cv_bridge image_geometry laser_geometry message_filters 
+             nav_msgs nodelet pcl_conversions pcl_ros pluginlib roscpp 
+             sensor_msgs rtabmap_conversions rtabmap_msgs rtabmap_util
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${catkin_INCLUDE_DIRS}
+)
+
+SET(rtabmap_odom_lib_src
+   src/OdometryROS.cpp
+   src/PluginInterface.cpp
+)
+  
+SET(rtabmap_odom_plugins_lib_src
+   src/nodelets/rgbd_odometry.cpp
+   src/nodelets/stereo_odometry.cpp
+   src/nodelets/rgbdicp_odometry.cpp
+   src/nodelets/icp_odometry.cpp
+)
+
+############################
+## Declare a cpp library
+############################
+add_library(rtabmap_odom
+   ${rtabmap_odom_lib_src}
+)
+add_library(rtabmap_odom_plugins
+   ${rtabmap_odom_plugins_lib_src}
+)
+
+target_link_libraries(rtabmap_odom
+  ${catkin_LIBRARIES}
+)
+target_link_libraries(rtabmap_odom_plugins
+  rtabmap_odom
+  ${catkin_LIBRARIES}
+)
+
+add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
+target_link_libraries(rtabmap_rgbd_odometry rtabmap_odom_plugins)
+set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
+
+add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
+target_link_libraries(rtabmap_stereo_odometry rtabmap_odom_plugins)
+set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
+
+add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
+target_link_libraries(rtabmap_rgbdicp_odometry rtabmap_odom_plugins)
+set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
+
+add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
+target_link_libraries(rtabmap_icp_odometry rtabmap_odom_plugins)
+set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
+
+#############
+## Install ##
+#############
+
+install(TARGETS 
+   rtabmap_odom
+   rtabmap_odom_plugins 
+   rtabmap_rgbd_odometry 
+   rtabmap_icp_odometry
+   rtabmap_rgbdicp_odometry 
+   rtabmap_stereo_odometry
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h"
+)
+
+install(FILES
+   nodelet_plugins.xml
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)