mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Split plugins lib to rviz and costmap libs
This commit is contained in:
matlabbe
+124
-123
@@ -4,12 +4,12 @@ project(rtabmap_ros)
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# Policy CMP0043 introduced in cmake version 3.0 IGNORES the use of COMPILE_DEFINITIONS suffixed variables, e.g. COMPILE_DEFINITIONS_DEBUG
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# Set to OLD behavior until minimum cmake version >= 2.8.10 (version that COMPILE_DEFINITIONS can be set by generator expressions instead)
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if (POLICY CMP0043)
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cmake_policy(SET CMP0043 OLD)
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cmake_policy(SET CMP0043 OLD)
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endif (POLICY CMP0043)
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# Policy CMP0042 introduced in cmake version 3.0 enables the use of @rpath in an install name via MACOSX_RPATH by default
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# Set to OLD behavior so that all versions use the same behavior, or until minimum cmake version >= 2.8.12 (version where @rpath is available)
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if (POLICY CMP0042)
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cmake_policy(SET CMP0042 OLD)
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cmake_policy(SET CMP0042 OLD)
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endif (POLICY CMP0042)
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## Find catkin macros and libraries
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@@ -58,13 +58,6 @@ IF(RTABMAP_GUI OR rviz_FOUND)
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ENDIF()
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ENDIF()
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ENDIF(RTABMAP_GUI OR rviz_FOUND)
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IF(rviz_FOUND)
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## We also use Ogre for rviz plugins
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include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
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pkg_check_modules(OGRE OGRE)
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include_directories( ${OGRE_INCLUDE_DIRS} )
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link_directories( ${OGRE_LIBRARY_DIRS} )
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ENDIF(rviz_FOUND)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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@@ -127,22 +120,19 @@ generate_dynamic_reconfigure_options(cfg/Camera.cfg)
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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SET(optional_dependencies "")
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IF(costmap_2d_FOUND)
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SET(optional_dependencies "")
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IF(costmap_2d_FOUND)
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SET(optional_dependencies ${optional_dependencies} costmap_2d)
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IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
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ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
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ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
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ENDIF(costmap_2d_FOUND)
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IF(octomap_msgs_FOUND)
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SET(optional_dependencies ${optional_dependencies} octomap_msgs)
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ENDIF(octomap_msgs_FOUND)
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IF(rviz_FOUND)
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SET(optional_dependencies ${optional_dependencies} rviz)
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ENDIF(costmap_2d_FOUND)
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IF(octomap_msgs_FOUND)
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SET(optional_dependencies ${optional_dependencies} octomap_msgs)
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ENDIF(octomap_msgs_FOUND)
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IF(rviz_FOUND)
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SET(optional_dependencies ${optional_dependencies} rviz)
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ENDIF(rviz_FOUND)
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IF(find_object_2d_FOUND)
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SET(optional_dependencies ${optional_dependencies} find_object_2d)
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ENDIF(find_object_2d_FOUND)
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IF(find_object_2d_FOUND)
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SET(optional_dependencies ${optional_dependencies} find_object_2d)
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ENDIF(find_object_2d_FOUND)
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catkin_package(
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INCLUDE_DIRS include
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@@ -223,21 +213,6 @@ ELSE()
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ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
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ENDIF()
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# If costmap_2d is found, add the plugin
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IF(costmap_2d_FOUND)
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MESSAGE(STATUS "WITH costmap_2d")
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include_directories(${costmap_2d_INCLUDE_DIRS})
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SET(Libraries
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${costmap_2d_LIBRARIES}
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${Libraries}
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)
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SET(rtabmap_plugins_lib_src
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src/costmap_2d/static_layer.cpp
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src/costmap_2d/voxel_layer.cpp
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${rtabmap_plugins_lib_src}
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)
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ENDIF(costmap_2d_FOUND)
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# If octomap is found, add definition
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IF(octomap_msgs_FOUND)
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MESSAGE(STATUS "WITH octomap_msgs")
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@@ -264,51 +239,6 @@ SET(Libraries
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ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
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ENDIF(apriltag_ros_FOUND)
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# If rviz is found, add plugins
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IF(rviz_FOUND)
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MESSAGE(STATUS "WITH rviz")
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include_directories(
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${rviz_INCLUDE_DIRS}
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)
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SET(Libraries
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${Libraries}
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${rviz_LIBRARIES}
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${rviz_DEFAULT_PLUGIN_LIBRARIES}
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)
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## RVIZ plugin
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IF(QT4_FOUND)
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qt4_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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ELSE()
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qt5_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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ENDIF()
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# tf:message_filters, mixing boost and Qt signals
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set_property(
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SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
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PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
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)
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SET(rtabmap_plugins_lib_src
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${rtabmap_plugins_lib_src}
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src/rviz/MapCloudDisplay.cpp
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src/rviz/MapGraphDisplay.cpp
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src/rviz/InfoDisplay.cpp
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src/rviz/OrbitOrientedViewController.cpp
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${MOC_FILES}
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)
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ENDIF(rviz_FOUND)
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############################
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## Declare a cpp library
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############################
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@@ -331,9 +261,6 @@ target_link_libraries(rtabmap_ros
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target_link_libraries(rtabmap_plugins
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rtabmap_ros
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)
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IF(Qt5_FOUND)
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QT5_USE_MODULES(rtabmap_plugins Widgets Core Gui)
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ENDIF(Qt5_FOUND)
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add_dependencies(rtabmap_ros ${${PROJECT_NAME}_EXPORTED_TARGETS})
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add_dependencies(rtabmap_plugins ${${PROJECT_NAME}_EXPORTED_TARGETS})
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@@ -385,11 +312,11 @@ set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signa
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# If find_object_2d is found, add save objects example
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IF(find_object_2d_FOUND)
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MESSAGE(STATUS "WITH find_object_2d")
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include_directories(${find_object_2d_INCLUDE_DIRS})
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add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
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target_link_libraries(rtabmap_save_objects_example ${Libraries} rtabmap_ros ${find_object_2d_LIBRARIES})
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set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
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MESSAGE(STATUS "WITH find_object_2d")
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include_directories(${find_object_2d_INCLUDE_DIRS})
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add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
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target_link_libraries(rtabmap_save_objects_example ${Libraries} rtabmap_ros ${find_object_2d_LIBRARIES})
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set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
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ENDIF(find_object_2d_FOUND)
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add_executable(rtabmap_camera src/CameraNode.cpp)
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@@ -423,6 +350,80 @@ add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.c
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target_link_libraries(rtabmap_pointcloud_to_depthimage ${Libraries})
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set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
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# If rviz is found, add plugins
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IF(rviz_FOUND)
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## We also use Ogre for rviz plugins
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include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
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pkg_check_modules(OGRE OGRE)
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include_directories( ${OGRE_INCLUDE_DIRS} )
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link_directories( ${OGRE_LIBRARY_DIRS} )
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MESSAGE(STATUS "WITH rviz")
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include_directories(
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${rviz_INCLUDE_DIRS}
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)
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SET(Libraries
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${Libraries}
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${rviz_LIBRARIES}
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${rviz_DEFAULT_PLUGIN_LIBRARIES}
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)
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## RVIZ plugin
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IF(QT4_FOUND)
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qt4_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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ELSE()
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qt5_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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ENDIF()
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# tf:message_filters, mixing boost and Qt signals
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set_property(
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SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
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PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
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)
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add_library(rtabmap_rviz_plugins
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src/rviz/MapCloudDisplay.cpp
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src/rviz/MapGraphDisplay.cpp
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src/rviz/InfoDisplay.cpp
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src/rviz/OrbitOrientedViewController.cpp
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${MOC_FILES}
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)
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target_link_libraries(rtabmap_rviz_plugins
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rtabmap_ros
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)
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IF(Qt5_FOUND)
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QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
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ENDIF(Qt5_FOUND)
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add_dependencies(rtabmap_rviz_plugins ${${PROJECT_NAME}_EXPORTED_TARGETS})
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ENDIF(rviz_FOUND)
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# If costmap_2d is found, add the plugins
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IF(costmap_2d_FOUND)
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MESSAGE(STATUS "WITH costmap_2d")
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IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
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ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
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ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
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include_directories(${costmap_2d_INCLUDE_DIRS})
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add_library(rtabmap_costmap_plugins
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src/costmap_2d/static_layer.cpp
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src/costmap_2d/voxel_layer.cpp
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)
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target_link_libraries(rtabmap_costmap_plugins
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${costmap_2d_LIBRARIES}
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)
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ENDIF(costmap_2d_FOUND)
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#############
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## Install ##
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#############
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@@ -442,13 +443,11 @@ install(PROGRAMS
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)
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## Mark executables and/or libraries for installation
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IF(RTABMAP_GUI)
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install(TARGETS
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rtabmap_sync
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rtabmap_ros
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rtabmap_plugins
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rtabmap
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rtabmapviz
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rtabmap_rgbd_odometry
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rtabmap_icp_odometry
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rtabmap_rgbdicp_odometry
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@@ -464,30 +463,15 @@ install(TARGETS
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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ELSE() # without rtabmapviz
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install(TARGETS
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rtabmap_sync
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rtabmap_ros
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rtabmap_plugins
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rtabmap
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rtabmap_rgbd_odometry
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rtabmap_icp_odometry
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rtabmap_rgbdicp_odometry
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rtabmap_stereo_odometry
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rtabmap_map_assembler
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rtabmap_map_optimizer
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rtabmap_data_player
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rtabmap_odom_msg_to_tf
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rtabmap_pointcloud_to_depthimage
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rtabmap_camera
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rtabmap_rgbd_sync
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rtabmap_rgbd_relay
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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ENDIF()
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)
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IF(RTABMAP_GUI)
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install(TARGETS
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rtabmapviz
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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ENDIF(RTABMAP_GUI)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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@@ -515,15 +499,32 @@ install(DIRECTORY
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## install plugins/nodelets xml
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install(FILES
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nodelet_plugins.xml
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plugin_description.xml
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costmap_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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IF(rviz_FOUND)
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install(TARGETS
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rtabmap_rviz_plugins
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(FILES
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rviz_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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ENDIF(rviz_FOUND)
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IF(costmap_2d_FOUND)
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install(FILES
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costmap_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(TARGETS
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rtabmap_costmap_plugins
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(FILES
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costmap_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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ENDIF(costmap_2d_FOUND)
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#############
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Reference in New Issue
Block a user