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Added rgbd_split node/nodelet for convenience (to split RGBDImage msg into standard msgs)

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matlabbe
2022-12-14 20:54:44 -08:00
parent 7b2c6354c6
commit 3040a5d8f5
4 changed files with 207 additions and 1 deletions
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CMakeLists.txt
+5 -1
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@@ -267,7 +267,7 @@ SET(rtabmap_plugins_lib_src
)
IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
SET(rtabmap_plugins_lib_src ${rtabmap_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgb_sync.cpp src/nodelets/rgbd_relay.cpp)
SET(rtabmap_plugins_lib_src ${rtabmap_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgb_sync.cpp src/nodelets/rgbd_relay.cpp src/nodelets/rgbd_split.cpp)
ELSE()
ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
ENDIF()
@@ -375,6 +375,10 @@ add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
target_link_libraries(rtabmap_rgbd_relay ${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 ${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 rtabmap_ros)
set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")