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Fixed humble build

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matlabbe
2022-09-10 10:54:26 +13:00
parent 8fe44cde73 97b5bb1785
commit 2f317416cc
9 changed files with 60 additions and 32 deletions
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CMakeLists.txt
+37 -19
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@@ -37,6 +37,7 @@ find_package(image_transport REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
#find_package(eigen_conversions REQUIRED)
find_package(laser_geometry REQUIRED)
find_package(pcl_conversions REQUIRED)
@@ -81,6 +82,9 @@ ELSEIF(COMPILER_SUPPORTS_CXX11)
ENDIF()
endif()
IF(${nav2_msgs_VERSION_MAJOR} EQUAL 0 AND (${nav2_msgs_VERSION_MINOR} LESS 4 OR (${nav2_msgs_VERSION_MINOR} EQUAL 4 AND ${nav2_msgs_VERSION_PATCH} LESS 7)))
ADD_DEFINITIONS("-DNAV_MSGS_FOXY")
ENDIF()
option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support" OFF)
option(RTABMAP_SYNC_USER_DATA "Build with input user data support" OFF)
@@ -223,6 +227,7 @@ SET(Libraries
tf2
tf2_eigen
tf2_ros
tf2_geometry_msgs
laser_geometry
message_filters
class_loader
@@ -335,13 +340,26 @@ ament_target_dependencies(rtabmap_common ${Libraries})
ament_target_dependencies(rtabmap_sync ${Libraries})
ament_target_dependencies(rtabmap_plugins ${Libraries})
target_link_libraries(rtabmap_common ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_sync rtabmap_common ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_plugins rtabmap_common ${RTABMap_LIBRARIES})
if("$ENV{ROS_DISTRO}" STRGREATER_EQUAL "humble")
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_common ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_sync ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_plugins ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(rtabmap_common ${cpp_typesupport_target} ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_sync rtabmap_common ${cpp_typesupport_targeT} ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_plugins rtabmap_common ${cpp_typesupport_target} ${RTABMap_LIBRARIES})
else()
# foxy, galatic
target_link_libraries(rtabmap_common ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_sync rtabmap_common ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_plugins rtabmap_common ${RTABMap_LIBRARIES})
rosidl_target_interfaces(rtabmap_common ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_sync ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_plugins ${PROJECT_NAME} "rosidl_typesupport_cpp")
function(rosidl_get_typesupport_target var generate_interfaces_target typesupport_name)
rosidl_target_interfaces(var generate_interfaces_target typesupport_name)
endfunction()
endif()
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDOdometry")
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoOdometry")
@@ -504,41 +522,41 @@ find_package("${rmw_implementation}" REQUIRED)
get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
foreach(typesupport_impl ${typesupport_impls})
rosidl_target_interfaces(rtabmap_rgbd_odometry
rosidl_get_typesupport_target(rtabmap_rgbd_odometry
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_stereo_odometry
rosidl_get_typesupport_target(rtabmap_stereo_odometry
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_icp_odometry
rosidl_get_typesupport_target(rtabmap_icp_odometry
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgbd_relay
rosidl_get_typesupport_target(rtabmap_rgbd_relay
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgbd_sync
rosidl_get_typesupport_target(rtabmap_rgbd_sync
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgbdx_sync
rosidl_get_typesupport_target(rtabmap_rgbdx_sync
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgb_sync
rosidl_get_typesupport_target(rtabmap_rgb_sync
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_stereo_sync
rosidl_get_typesupport_target(rtabmap_stereo_sync
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_pointcloud_to_depthimage
rosidl_get_typesupport_target(rtabmap_pointcloud_to_depthimage
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_point_cloud_xyzrgb
rosidl_get_typesupport_target(rtabmap_point_cloud_xyzrgb
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap
rosidl_get_typesupport_target(rtabmap
${PROJECT_NAME} ${typesupport_impl}
)
IF(RTABMAP_GUI)
rosidl_target_interfaces(rtabmapviz
rosidl_get_typesupport_target(rtabmapviz
${PROJECT_NAME} ${typesupport_impl}
)
ENDIF()
@@ -598,7 +616,7 @@ IF(rviz_default_plugins_FOUND)
ENDIF(Qt5_FOUND)
foreach(typesupport_impl ${typesupport_impls})
rosidl_target_interfaces(rtabmap_rviz_plugins
rosidl_get_typesupport_target(rtabmap_rviz_plugins
${PROJECT_NAME} ${typesupport_impl}
)
endforeach()