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Making rviz dependency optional (rviz plugins won't be built if not detected)

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This commit is contained in:
matlabbe
2016-04-27 15:12:36 -04:00
parent 446026a5f4
commit 424fcd8c4d
1 changed files with 45 additions and 23 deletions
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CMakeLists.txt
+45 -23
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@@ -7,13 +7,14 @@ project(rtabmap_ros)
find_package(catkin REQUIRED COMPONENTS
cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions
pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
pcl_ros nodelet dynamic_reconfigure message_filters class_loader
genmsg stereo_msgs move_base_msgs
)
# Optional components
find_package(costmap_2d)
find_package(octomap_ros)
find_package(rviz)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
@@ -95,13 +96,16 @@ ENDIF(costmap_2d_FOUND)
IF(octomap_ros_FOUND)
SET(optional_dependencies ${optional_dependencies} octomap_ros)
ENDIF(octomap_ros_FOUND)
IF(rviz_FOUND)
SET(optional_dependencies ${optional_dependencies} rviz)
ENDIF(rviz_FOUND)
catkin_package(
INCLUDE_DIRS include
LIBRARIES rtabmap_ros
CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions
pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
pcl_ros nodelet dynamic_reconfigure message_filters class_loader
stereo_msgs move_base_msgs ${optional_dependencies}
DEPENDS RTABMap OpenCV
)
@@ -125,23 +129,8 @@ SET(Libraries
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
${RTABMap_LIBRARIES}
${rviz_DEFAULT_PLUGIN_LIBRARIES}
)
## RVIZ plugin
qt4_wrap_cpp(MOC_FILES
src/rviz/MapCloudDisplay.h
src/rviz/MapGraphDisplay.h
src/rviz/InfoDisplay.h
src/rviz/OrbitOrientedViewController.h
)
# tf:message_filters, mixing boost and Qt signals
set_property(
SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
)
SET(rtabmap_ros_lib_src
src/nodelets/data_throttle.cpp
src/nodelets/stereo_throttle.cpp
@@ -153,12 +142,7 @@ SET(rtabmap_ros_lib_src
src/nodelets/point_cloud_aggregator.cpp
src/MsgConversion.cpp
src/OdometryROS.cpp
src/rviz/MapCloudDisplay.cpp
src/rviz/MapGraphDisplay.cpp
src/rviz/InfoDisplay.cpp
src/rviz/OrbitOrientedViewController.cpp
src/MapsManager.cpp
${MOC_FILES}
)
# If costmap_2d is found, add the plugin
@@ -175,7 +159,45 @@ SET(rtabmap_ros_lib_src
)
ENDIF(costmap_2d_FOUND)
# If rviz is found, add plugins
IF(rviz_FOUND)
MESSAGE(STATUS "WITH rviz")
include_directories(
${rviz_INCLUDE_DIRS}
)
SET(Libraries
${Libraries}
${rviz_LIBRARIES}
${rviz_DEFAULT_PLUGIN_LIBRARIES}
)
## RVIZ plugin
qt4_wrap_cpp(MOC_FILES
src/rviz/MapCloudDisplay.h
src/rviz/MapGraphDisplay.h
src/rviz/InfoDisplay.h
src/rviz/OrbitOrientedViewController.h
)
# tf:message_filters, mixing boost and Qt signals
set_property(
SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
)
SET(rtabmap_ros_lib_src
${rtabmap_ros_lib_src}
src/rviz/MapCloudDisplay.cpp
src/rviz/MapGraphDisplay.cpp
src/rviz/InfoDisplay.cpp
src/rviz/OrbitOrientedViewController.cpp
${MOC_FILES}
)
ENDIF(rviz_FOUND)
############################
## Declare a cpp library
############################
add_library(rtabmap_ros
${rtabmap_ros_lib_src}
)