Made costmap_2d and octomap_ros optional

src/CoreWrapper.cpp

@@ -57,10 +57,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <laser_geometry/laser_geometry.h>
 #include <image_geometry/stereo_camera_model.h>
 
+#ifdef WITH_OCTOMAP
 #include <octomap/octomap.h>
 #include <octomap_ros/conversions.h>
 #include <octomap_msgs/Octomap.h>
 #include <octomap_msgs/conversions.h>
+#endif
+
 
 //msgs
 #include "rtabmap_ros/Info.h"
@@ -376,8 +379,10 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 	setGoalSrv_ = nh.advertiseService("set_goal", &CoreWrapper::setGoalCallback, this);
 	setLabelSrv_ = nh.advertiseService("set_label", &CoreWrapper::setLabelCallback, this);
 	listLabelsSrv_ = nh.advertiseService("list_labels", &CoreWrapper::listLabelsCallback, this);
+#ifdef WITH_OCTOMAP
 	octomapBinarySrv_ = nh.advertiseService("octomap_binary", &CoreWrapper::octomapBinaryCallback, this);
 	octomapFullSrv_ = nh.advertiseService("octomap_full", &CoreWrapper::octomapFullCallback, this);
+#endif
 
 	setupCallbacks(subscribeDepth, subscribeLaserScan, subscribeStereo, queueSize, stereoApproxSync);
 
@@ -2509,6 +2514,7 @@ void CoreWrapper::publishLocalPath(const ros::Time & stamp)
 	}
 }
 
+#ifdef WITH_OCTOMAP
 // returned OcTree must be deleted
 // RTAB-Map optimizes the graph at almost each iteration, an octomap cannot
 // be updated online. Only available on service. To have an "online" octomap published as a topic,
@@ -2595,6 +2601,7 @@ bool CoreWrapper::octomapFullCallback(
 	}
 	return success;
 }
+#endif
 
 /**
  * exclusive callbacks:

src/CoreWrapper.h

@@ -47,7 +47,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sensor_msgs/LaserScan.h>
 #include <nav_msgs/Odometry.h>
 #include <nav_msgs/GetMap.h>
-#include <octomap_msgs/GetOctomap.h>
 
 #include <rtabmap/core/Statistics.h>
 #include <rtabmap/core/Parameters.h>
@@ -70,6 +69,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
 
+#ifdef WITH_OCTOMAP
+#include <octomap_msgs/GetOctomap.h>
+#endif
+
 #include <actionlib/client/simple_action_client.h>
 #include <move_base_msgs/MoveBaseAction.h>
 #include <move_base_msgs/MoveBaseActionGoal.h>
@@ -195,8 +198,10 @@ private:
 	bool setGoalCallback(rtabmap_ros::SetGoal::Request& req, rtabmap_ros::SetGoal::Response& res);
 	bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
 	bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
+#ifdef WITH_OCTOMAP
 	bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request  &req, octomap_msgs::GetOctomap::Response &res);
 	bool octomapFullCallback(octomap_msgs::GetOctomap::Request  &req, octomap_msgs::GetOctomap::Response &res);
+#endif
 
 	rtabmap::ParametersMap loadParameters(const std::string & configFile);
 	void saveParameters(const std::string & configFile);
@@ -217,7 +222,9 @@ private:
 	void goalFeedbackCb(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
 	void publishLocalPath(const ros::Time & stamp);
 
+#ifdef WITH_OCTOMAP
 	octomap::OcTree * createOctomap();
+#endif
 
 private:
 	rtabmap::Rtabmap rtabmap_;
@@ -386,8 +393,10 @@ private:
 	ros::ServiceServer setGoalSrv_;
 	ros::ServiceServer setLabelSrv_;
 	ros::ServiceServer listLabelsSrv_;
+#ifdef WITH_OCTOMAP
 	ros::ServiceServer octomapBinarySrv_;
 	ros::ServiceServer octomapFullSrv_;
+#endif
 
 	MoveBaseClient mbClient_;