First version rtabmap_launch working

2026-10-04 16:57:46 +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 +1,161 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap_util)
+
+find_package(catkin REQUIRED COMPONENTS
+             cv_bridge image_transport roscpp sensor_msgs std_msgs    
+             tf laser_geometry pcl_conversions pcl_ros nodelet message_filters
+             pluginlib rtabmap_msgs rtabmap_conversions
+)
+
+# Optional components
+find_package(octomap_msgs)
+
+SET(optional_dependencies "")
+IF(octomap_msgs_FOUND)
+   SET(optional_dependencies ${optional_dependencies} octomap_msgs)
+ENDIF(octomap_msgs_FOUND)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_util_plugins
+  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs    
+             tf laser_geometry pcl_conversions pcl_ros nodelet message_filters
+             pluginlib rtabmap_msgs rtabmap_conversions ${optional_dependencies}
+)
+
+###########
+## Build ##
+###########
+
+# include_directories(include)
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${catkin_INCLUDE_DIRS}
+)
+  
+SET(rtabmap_util_plugins_lib_src
+   src/MapsManager.cpp
+   src/nodelets/point_cloud_xyzrgb.cpp
+   src/nodelets/point_cloud_xyz.cpp
+   src/nodelets/disparity_to_depth.cpp 
+   src/nodelets/pointcloud_to_depthimage.cpp 
+   src/nodelets/obstacles_detection.cpp
+   src/nodelets/point_cloud_aggregator.cpp
+   src/nodelets/point_cloud_assembler.cpp
+   src/nodelets/imu_to_tf.cpp
+   src/nodelets/lidar_deskewing.cpp
+)
+
+IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
+   SET(rtabmap_util_plugins_lib_src ${rtabmap_util_plugins_lib_src} src/nodelets/rgbd_relay.cpp src/nodelets/rgbd_split.cpp)
+ELSE()
+   ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
+ENDIF()   
+
+# If octomap is found, add definition
+IF(octomap_msgs_FOUND)
+MESSAGE(STATUS "WITH octomap_msgs")
+include_directories(
+  ${octomap_msgs_INCLUDE_DIRS}
+)
+SET(Libraries
+  ${octomap_msgs_LIBRARIES}
+  ${Libraries}
+)
+ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
+ENDIF(octomap_msgs_FOUND)
+
+############################
+## Declare a cpp library
+############################
+add_library(rtabmap_util_plugins
+   ${rtabmap_util_plugins_lib_src}
+)
+target_link_libraries(rtabmap_util_plugins
+  ${catkin_LIBRARIES}
+)
+
+add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
+target_link_libraries(rtabmap_rgbd_relay ${catkin_LIBRARIES})
+set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
+
+add_executable(rtabmap_rgbd_split src/RGBDSplitNode.cpp)
+target_link_libraries(rtabmap_rgbd_split ${catkin_LIBRARIES})
+set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")
+
+add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
+target_link_libraries(rtabmap_map_optimizer ${catkin_LIBRARIES})
+set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
+
+add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
+target_link_libraries(rtabmap_map_assembler rtabmap_util_plugins ${catkin_LIBRARIES})
+set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
+
+add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
+target_link_libraries(rtabmap_imu_to_tf ${catkin_LIBRARIES})
+set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
+
+add_executable(rtabmap_lidar_deskewing src/LidarDeskewingNode.cpp)
+target_link_libraries(rtabmap_lidar_deskewing ${catkin_LIBRARIES})
+set_target_properties(rtabmap_lidar_deskewing PROPERTIES OUTPUT_NAME "lidar_deskewing")
+
+add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
+target_link_libraries(rtabmap_data_player ${catkin_LIBRARIES})
+set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
+
+add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
+target_link_libraries(rtabmap_odom_msg_to_tf ${catkin_LIBRARIES})
+set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
+
+add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
+target_link_libraries(rtabmap_pointcloud_to_depthimage ${catkin_LIBRARIES})
+set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
+
+add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
+target_link_libraries(rtabmap_point_cloud_aggregator ${catkin_LIBRARIES})
+set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "rtabmap_point_cloud_aggregator")
+
+add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
+target_link_libraries(rtabmap_point_cloud_assembler ${catkin_LIBRARIES})
+set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
+
+#############
+## Install ##
+#############
+
+catkin_install_python(PROGRAMS
+  scripts/patrol.py
+  scripts/objects_to_tags.py
+  scripts/point_to_tf.py
+  scripts/transform_to_tf.py
+  scripts/yaml_to_camera_info.py
+  scripts/netvlad_tf_ros.py
+  scripts/gazebo_ground_truth.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(TARGETS 
+   rtabmap_util_plugins
+   rtabmap_map_assembler
+   rtabmap_map_optimizer
+   rtabmap_data_player
+   rtabmap_odom_msg_to_tf
+   rtabmap_pointcloud_to_depthimage
+   rtabmap_point_cloud_assembler
+   rtabmap_rgbd_relay
+   rtabmap_rgbd_split
+   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}
+)
+