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ros2: Ported imu_to_tf and disparity_to_depth nodelets

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matlabbe
2023-10-14 19:41:34 -07:00
parent 76f2095e67
commit 83c16dcf24
12 changed files with 369 additions and 191 deletions
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rtabmap_util/CMakeLists.txt
+17 -10
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@@ -18,6 +18,7 @@ find_package(stereo_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(laser_geometry REQUIRED)
find_package(pcl_conversions REQUIRED)
@@ -26,8 +27,6 @@ find_package(message_filters REQUIRED)
find_package(rtabmap_msgs REQUIRED)
find_package(rtabmap_conversions REQUIRED)
MESSAGE(STATUS "rtabmap_conversions_TARGETS = ${rtabmap_conversions_TARGETS}")
# Optional components
find_package(octomap_msgs)
@@ -46,6 +45,7 @@ SET(Libraries
nav_msgs
std_msgs
tf2
tf2_geometry_msgs
tf2_ros
laser_geometry
pcl_conversions
@@ -63,12 +63,12 @@ SET(rtabmap_util_plugins_lib_src
src/MapsManager.cpp
src/nodelets/point_cloud_xyzrgb.cpp
src/nodelets/point_cloud_xyz.cpp
# src/nodelets/disparity_to_depth.cpp # not ported to ROS2
src/nodelets/disparity_to_depth.cpp
src/nodelets/pointcloud_to_depthimage.cpp
src/nodelets/obstacles_detection.cpp
src/nodelets/point_cloud_aggregator.cpp
src/nodelets/point_cloud_assembler.cpp
# src/nodelets/imu_to_tf.cpp # not ported to ROS2
src/nodelets/imu_to_tf.cpp
src/nodelets/lidar_deskewing.cpp
src/nodelets/rgbd_relay.cpp
src/nodelets/rgbd_split.cpp
@@ -104,8 +104,8 @@ ament_target_dependencies(rtabmap_util_plugins ${Libraries})
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDRelay")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDSplit")
#rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::DisparityToDepth")
#rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::ImuToTF")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::DisparityToDepth")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::ImuToTF")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::LidarDeskewing")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudXYZ")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudXYZRGB")
@@ -134,10 +134,15 @@ set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")
#target_link_libraries(rtabmap_map_assembler rtabmap_util_plugins rtabmap_util_plugins)
#set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
#add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
#ament_target_dependencies(rtabmap_imu_to_tf ${Libraries})
#target_link_libraries(rtabmap_imu_to_tf rtabmap_util_plugins)
#set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
ament_target_dependencies(rtabmap_imu_to_tf ${Libraries})
target_link_libraries(rtabmap_imu_to_tf rtabmap_util_plugins)
set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
add_executable(rtabmap_disparity_to_depth src/DisparityToDepthNode.cpp)
ament_target_dependencies(rtabmap_disparity_to_depth ${Libraries})
target_link_libraries(rtabmap_disparity_to_depth rtabmap_util_plugins)
set_target_properties(rtabmap_disparity_to_depth PROPERTIES OUTPUT_NAME "disparity_to_depth")
add_executable(rtabmap_lidar_deskewing src/LidarDeskewingNode.cpp)
ament_target_dependencies(rtabmap_lidar_deskewing ${Libraries})
@@ -218,6 +223,8 @@ install(TARGETS
# rtabmap_map_optimizer
# rtabmap_data_player
# rtabmap_odom_msg_to_tf
rtabmap_imu_to_tf
rtabmap_disparity_to_depth
rtabmap_rgbd_relay
rtabmap_rgbd_split
rtabmap_lidar_deskewing