First version rtabmap_launch working

2026-10-04 08:47:45 +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 +1,130 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap_rviz_plugins)
+
+# For rviz plugins, look for Qt5 before Qt4
+FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
+IF(NOT Qt5_FOUND)
+    FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
+    INCLUDE(${QT_USE_FILE})
+ENDIF(NOT Qt5_FOUND)
+
+
+find_package(catkin REQUIRED COMPONENTS
+             roscpp sensor_msgs std_msgs pcl_conversions pluginlib rviz tf rtabmap_conversions rtabmap_msgs)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_rviz_plugins
+  CATKIN_DEPENDS roscpp sensor_msgs std_msgs pcl_conversions pluginlib rviz tf rtabmap_conversions rtabmap_msgs
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## We also use Ogre for rviz plugins
+# this file doesn't exist post-noetic, but pkg_check_modules still works
+IF(EXISTS $ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
+  include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
+ENDIF()
+pkg_check_modules(OGRE OGRE)
+include_directories( ${OGRE_INCLUDE_DIRS} )
+link_directories( ${OGRE_LIBRARY_DIRS} )
+
+SET(Libraries
+  ${catkin_LIBRARIES}
+  ${rviz_DEFAULT_PLUGIN_LIBRARIES}
+)
+
+## RVIZ plugin
+IF(QT4_FOUND)
+  IF(WIN32)
+    qt4_wrap_cpp(MOC_FILES
+      include/${PROJECT_NAME}/MapCloudDisplay.h
+      include/${PROJECT_NAME}/MapGraphDisplay.h
+      include/${PROJECT_NAME}/InfoDisplay.h
+    )
+  ELSE()
+    qt4_wrap_cpp(MOC_FILES
+      include/${PROJECT_NAME}/MapCloudDisplay.h
+      include/${PROJECT_NAME}/MapGraphDisplay.h
+      include/${PROJECT_NAME}/InfoDisplay.h
+      include/${PROJECT_NAME}/OrbitOrientedViewController.h
+    )
+  ENDIF()
+ELSE()
+  IF(WIN32)
+    qt5_wrap_cpp(MOC_FILES
+      include/${PROJECT_NAME}/MapCloudDisplay.h
+      include/${PROJECT_NAME}/MapGraphDisplay.h
+      include/${PROJECT_NAME}/InfoDisplay.h
+    )
+  ELSE()
+    qt5_wrap_cpp(MOC_FILES
+      include/${PROJECT_NAME}/MapCloudDisplay.h
+      include/${PROJECT_NAME}/MapGraphDisplay.h
+      include/${PROJECT_NAME}/InfoDisplay.h
+      include/${PROJECT_NAME}/OrbitOrientedViewController.h
+    )
+  ENDIF()
+ENDIF()
+
+# tf:message_filters, mixing boost and Qt signals
+IF(WIN32)
+  set_property(
+    SOURCE src/MapCloudDisplay.cpp src/MapGraphDisplay.cpp src/InfoDisplay.cpp
+    PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
+  )
+ELSE()
+  set_property(
+    SOURCE src/MapCloudDisplay.cpp src/MapGraphDisplay.cpp src/InfoDisplay.cpp src/OrbitOrientedViewController.cpp
+    PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
+  )
+ENDIF()
+SET(SRC_FILES 
+   src/MapCloudDisplay.cpp
+   src/MapGraphDisplay.cpp
+   src/InfoDisplay.cpp
+   ${MOC_FILES}
+)
+IF(NOT WIN32)
+  SET(SRC_FILES 
+    ${SRC_FILES} 
+    src/OrbitOrientedViewController.cpp
+  )
+ENDIF(NOT WIN32)
+add_library(rtabmap_rviz_plugins
+   ${SRC_FILES}
+)
+target_link_libraries(rtabmap_rviz_plugins
+  ${Libraries}
+)
+IF(Qt5_FOUND)
+    QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
+ENDIF(Qt5_FOUND)
+
+#############
+## Install ##
+#############
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h"
+)
+
+install(TARGETS 
+   rtabmap_rviz_plugins
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
+install(FILES
+   rviz_plugins.xml
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)