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build rtabmap_viz with Qt5 on Ubuntu 22.10 (#905)

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* build rtabmap_viz with Qt5

* eliminate circular dependency (nothing can depend on rtabmap_ros that rtabmap_ros depends on), and resolve 'Unknown CMake command catkin_package' with catkin build

* more dependency cleanup but can't get rid of rtabmap_demos circular dependency on rtabmap_legacy

* Update CMakeLists.txt

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
This commit is contained in:
Lucas Walter
2023-03-05 19:00:19 -08:00
committed by GitHub
co-authored by matlabbe
parent 335fa60956
commit 49cbce4874
11 changed files with 39 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_costmap_plugins/CMakeLists.txt
+1 -1
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@@ -5,7 +5,7 @@ project(rtabmap_costmap_plugins)
## Dependencies ## ## Dependencies ##
################## ##################
find_package(catkin REQUIRED COMPONENTS roscpp pcl_conversions costmap_2d) find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure roscpp pcl_conversions costmap_2d)
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
rtabmap_costmap_plugins/package.xml
+1
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@@ -12,6 +12,7 @@
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>genmsg</buildtool_depend> <buildtool_depend>genmsg</buildtool_depend>
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>libpcl-all-dev</build_depend> <build_depend>libpcl-all-dev</build_depend>
<build_depend>message_generation</build_depend> <build_depend>message_generation</build_depend>
<depend>costmap_2d</depend> <depend>costmap_2d</depend>
rtabmap_demos/package.xml
+5 -2
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@@ -16,8 +16,11 @@
<depend>rtabmap_msgs</depend> <depend>rtabmap_msgs</depend>
<exec_depend>rtabmap_costmap_plugins</exec_depend> <exec_depend>rtabmap_costmap_plugins</exec_depend>
<exec_depend>rtabmap_legacy</exec_depend> <exec_depend>rtabmap_launch</exec_depend>
<exec_depend>rtabmap_ros</exec_depend> <!--exec_depend>rtabmap_legacy</exec_depend-->
<exec_depend>rtabmap_odom</exec_depend>
<exec_depend>rtabmap_slam</exec_depend>
<exec_depend>rtabmap_sync</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend> <exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_viz</exec_depend> <exec_depend>rtabmap_viz</exec_depend>
<exec_depend>rtabmap_util</exec_depend> <exec_depend>rtabmap_util</exec_depend>
rtabmap_examples/package.xml
+4 -1
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@@ -15,9 +15,12 @@
<depend>rtabmap_conversions</depend> <depend>rtabmap_conversions</depend>
<exec_depend>rtabmap_costmap_plugins</exec_depend> <exec_depend>rtabmap_costmap_plugins</exec_depend>
<exec_depend>rtabmap_launch</exec_depend>
<exec_depend>rtabmap_msgs</exec_depend> <exec_depend>rtabmap_msgs</exec_depend>
<exec_depend>rtabmap_ros</exec_depend> <exec_depend>rtabmap_odom</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend> <exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_slam</exec_depend>
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_viz</exec_depend> <exec_depend>rtabmap_viz</exec_depend>
<exec_depend>rtabmap_demos</exec_depend> <exec_depend>rtabmap_demos</exec_depend>
rtabmap_launch/CMakeLists.txt
+3
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@@ -1,6 +1,9 @@
cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.5)
project(rtabmap_launch) project(rtabmap_launch)
find_package(catkin REQUIRED COMPONENTS
)
catkin_package() catkin_package()
############# #############
rtabmap_launch/package.xml
+3 -1
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@@ -13,8 +13,10 @@
<exec_depend>rtabmap_costmap_plugins</exec_depend> <exec_depend>rtabmap_costmap_plugins</exec_depend>
<exec_depend>rtabmap_msgs</exec_depend> <exec_depend>rtabmap_msgs</exec_depend>
<exec_depend>rtabmap_ros</exec_depend> <exec_depend>rtabmap_odom</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend> <exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_slam</exec_depend>
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_viz</exec_depend> <exec_depend>rtabmap_viz</exec_depend>
</package> </package>
rtabmap_legacy/package.xml
+18 -5
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@@ -11,11 +11,24 @@
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<depend>dynamic_reconfigure</depend> <build_export_depend>rtabmap_conversions</build_export_depend>
<depend>image_transport</depend> <build_export_depend>rtabmap_msgs</build_export_depend>
<depend>nodelet</depend>
<depend>rtabmap_conversions</depend> <build_depend>dynamic_reconfigure</build_depend>
<depend>rtabmap_msgs</depend> <build_depend>image_transport</build_depend>
<build_depend>rtabmap_conversions</build_depend>
<build_depend>rtabmap_msgs</build_depend>
<exec_depend>dynamic_reconfigure</exec_depend>
<exec_depend>image_transport</exec_depend>
<exec_depend>nodelet</exec_depend>
<exec_depend>rtabmap_conversions</exec_depend>
<exec_depend>rtabmap_demos</exec_depend>
<exec_depend>rtabmap_launch</exec_depend>
<exec_depend>rtabmap_msgs</exec_depend>
<exec_depend>rtabmap_odom</exec_depend>
<exec_depend>rtabmap_slam</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<export> <export>
<nodelet plugin="${prefix}/nodelet_plugins.xml" /> <nodelet plugin="${prefix}/nodelet_plugins.xml" />
rtabmap_msgs/CMakeLists.txt
+1 -1
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@@ -6,7 +6,7 @@ project(rtabmap_msgs)
################## ##################
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
std_msgs std_srvs geometry_msgs sensor_msgs genmsg message_generation std_msgs std_srvs geometry_msgs sensor_msgs genmsg
) )
####################################### #######################################
rtabmap_ros/CMakeLists.txt
+3
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@@ -1,6 +1,9 @@
cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.5)
project(rtabmap_ros) project(rtabmap_ros)
find_package(catkin REQUIRED COMPONENTS
)
catkin_package() catkin_package()
############# #############
rtabmap_ros/package.xml
-1
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@@ -20,7 +20,6 @@
<exec_depend>rtabmap_launch</exec_depend> <exec_depend>rtabmap_launch</exec_depend>
<exec_depend>rtabmap_legacy</exec_depend> <exec_depend>rtabmap_legacy</exec_depend>
<exec_depend>rtabmap_msgs</exec_depend> <exec_depend>rtabmap_msgs</exec_depend>
<exec_depend>rtabmap_odometry</exec_depend>
<exec_depend>rtabmap_legacy</exec_depend> <exec_depend>rtabmap_legacy</exec_depend>
<exec_depend>rtabmap_python</exec_depend> <exec_depend>rtabmap_python</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend> <exec_depend>rtabmap_rviz_plugins</exec_depend>
rtabmap_viz/CMakeLists.txt
-2
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@@ -1,8 +1,6 @@
cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.5)
project(rtabmap_viz) project(rtabmap_viz)
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
cv_bridge geometry_msgs std_msgs std_srvs nav_msgs rtabmap_msgs rtabmap_sync tf cv_bridge geometry_msgs std_msgs std_srvs nav_msgs rtabmap_msgs rtabmap_sync tf
) )