Making nav2_msgs optional (not available yet on jazzy). Fixed compilation errors on jazzy with vision_opencv related h->hpp headers.

rtabmap_rviz_plugins/CMakeLists.txt

@@ -46,21 +46,6 @@ MESSAGE(STATUS "rtabmap_conversions=${rtabmap_conversions_LIBRARIES}")
 ## We also use Ogre for rviz plugins
 include_directories( ${OGRE_INCLUDE_DIRS} )
 
-## RVIZ plugin
-IF(QT4_FOUND)
-    qt4_wrap_cpp(MOC_FILES
-      include/${PROJECT_NAME}/MapCloudDisplay.h
-      include/${PROJECT_NAME}/MapGraphDisplay.h
-      include/${PROJECT_NAME}/InfoDisplay.h
-    )
-ELSE()
-    qt5_wrap_cpp(MOC_FILES
-      include/${PROJECT_NAME}/MapCloudDisplay.h
-      include/${PROJECT_NAME}/MapGraphDisplay.h
-      include/${PROJECT_NAME}/InfoDisplay.h
-    )
-ENDIF()
-
 # tf:message_filters, mixing boost and Qt signals
 set_property(
     SOURCE src/MapCloudDisplay.cpp src/MapGraphDisplay.cpp src/InfoDisplay.cpp src/OrbitOrientedViewController.cpp
@@ -71,8 +56,11 @@ add_library(rtabmap_rviz_plugins SHARED
        src/MapCloudDisplay.cpp
        src/MapGraphDisplay.cpp
        src/InfoDisplay.cpp
-       ${MOC_FILES}
+       include/${PROJECT_NAME}/MapCloudDisplay.h
+       include/${PROJECT_NAME}/MapGraphDisplay.h
+       include/${PROJECT_NAME}/InfoDisplay.h
 )
+set_property(TARGET rtabmap_rviz_plugins PROPERTY AUTOMOC ON)
 target_include_directories(rtabmap_rviz_plugins
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -81,10 +69,6 @@ target_include_directories(rtabmap_rviz_plugins
 
 ament_target_dependencies(rtabmap_rviz_plugins ${Libraries})
 
-IF(Qt5_FOUND)
-    QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
-ENDIF(Qt5_FOUND)
-
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(rtabmap_rviz_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")
@@ -111,6 +95,4 @@ install(TARGETS
    INCLUDES DESTINATION include
 )
 
-pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
-
 ament_package()