From 4f49425eac73bddf60d11c1350955f4aba10a8f9 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 18 Nov 2015 15:18:45 -0500
Subject: [PATCH] Simplified how linking to rtabmap_ros using catkin so that
 only rtabmap_ros dependency is required: added CATKIN_DEPENDS optional
 costmap_2d and octomap_ros, added DEPENDS RTABMap and OpenCV.

---
 CMakeLists.txt | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 09581113..c74742dd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -86,13 +86,23 @@ generate_dynamic_reconfigure_options(cfg/Camera.cfg)
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
+
+SET(optional_dependencies "")
+IF(costmap_2d_FOUND)
+SET(optional_dependencies ${optional_dependencies} costmap_2d )
+ENDIF(costmap_2d_FOUND)
+IF(octomap_ros_FOUND)
+SET(optional_dependencies ${optional_dependencies} octomap_ros)
+ENDIF(octomap_ros_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
-                 stereo_msgs move_base_msgs 
+                 stereo_msgs move_base_msgs ${optional_dependencies}
+  DEPENDS RTABMap OpenCV
 )
 
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