First version rtabmap_launch working

2026-10-10 19:49:49 +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 +1,124 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap_slam)
+
+
+
+find_package(catkin REQUIRED COMPONENTS
+             actionlib actionlib_msgs cv_bridge geometry_msgs 
+             move_base_msgs nav_msgs nodelet pluginlib sensor_msgs 
+             std_msgs std_srvs tf tf2_ros visualization_msgs 
+             rtabmap_msgs rtabmap_util rtabmap_sync
+)
+
+# Optional components
+find_package(apriltag_ros)
+find_package(fiducial_msgs)
+
+IF(WIN32)
+add_compile_options(-bigobj)
+ENDIF(WIN32)
+
+###################################
+## catkin specific configuration ##
+###################################
+
+SET(optional_dependencies "")
+IF(apriltag_ros_FOUND)
+   SET(optional_dependencies ${optional_dependencies} apriltag_ros)
+ENDIF(apriltag_ros_FOUND)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_slam_plugins
+  CATKIN_DEPENDS actionlib actionlib_msgs cv_bridge geometry_msgs 
+             move_base_msgs nav_msgs nodelet pluginlib sensor_msgs 
+             std_msgs std_srvs tf tf2_ros visualization_msgs 
+             rtabmap_msgs rtabmap_util rtabmap_sync ${optional_dependencies}
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${catkin_INCLUDE_DIRS}
+)
+
+# libraries
+SET(Libraries
+   ${catkin_LIBRARIES}
+)
+
+SET(rtabmap_slam_plugins_lib_src
+   src/CoreWrapper.cpp
+)
+
+# If octomap is found, add definition
+IF(octomap_msgs_FOUND)
+MESSAGE(STATUS "WITH octomap_msgs")
+ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
+ENDIF(octomap_msgs_FOUND)
+
+# If apriltag_ros is found, add definition
+IF(apriltag_ros_FOUND)
+MESSAGE(STATUS "WITH apriltag_ros")
+include_directories(
+  ${apriltag_ros_INCLUDE_DIRS}
+)
+SET(Libraries
+  ${apriltag_ros_LIBRARIES}
+  ${Libraries}
+)
+ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
+ENDIF(apriltag_ros_FOUND)
+
+# If fiducial_msgs is found, add definition
+IF(fiducial_msgs_FOUND)
+MESSAGE(STATUS "WITH fiducial_msgs")
+include_directories(
+  ${fiducial_msgs_INCLUDE_DIRS}
+)
+SET(Libraries
+  ${fiducial_msgs_LIBRARIES}
+  ${Libraries}
+)
+ADD_DEFINITIONS("-DWITH_FIDUCIAL_MSGS")
+ENDIF(fiducial_msgs_FOUND)
+
+############################
+## Declare a cpp library
+############################
+add_library(rtabmap_slam_plugins
+   ${rtabmap_slam_plugins_lib_src}
+)
+
+target_link_libraries(rtabmap_slam_plugins
+  ${Libraries}
+)
+
+add_executable(rtabmap_node src/CoreNode.cpp)
+target_link_libraries(rtabmap_node ${Libraries})
+set_target_properties(rtabmap_node PROPERTIES OUTPUT_NAME "rtabmap")
+
+#############
+## Install ##
+#############
+
+install(TARGETS 
+   rtabmap_slam_plugins
+   rtabmap_node 
+   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}
+)