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Patch for issue #382

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This commit is contained in:
matlabbe
2020-01-16 15:21:13 -05:00
parent d04e0e77ba
commit d80a66a724
2 changed files with 8 additions and 0 deletions
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CMakeLists.txt
+6
View File
@@ -418,11 +418,16 @@ IF(costmap_2d_FOUND)
include_directories(${costmap_2d_INCLUDE_DIRS}) include_directories(${costmap_2d_INCLUDE_DIRS})
add_library(rtabmap_costmap_plugins add_library(rtabmap_costmap_plugins
src/costmap_2d/static_layer.cpp src/costmap_2d/static_layer.cpp
)
add_library(rtabmap_costmap_plugins2
src/costmap_2d/voxel_layer.cpp src/costmap_2d/voxel_layer.cpp
) )
target_link_libraries(rtabmap_costmap_plugins target_link_libraries(rtabmap_costmap_plugins
${costmap_2d_LIBRARIES} ${costmap_2d_LIBRARIES}
) )
target_link_libraries(rtabmap_costmap_plugins2
${costmap_2d_LIBRARIES}
)
ENDIF(costmap_2d_FOUND) ENDIF(costmap_2d_FOUND)
############# #############
@@ -518,6 +523,7 @@ ENDIF(rviz_FOUND)
IF(costmap_2d_FOUND) IF(costmap_2d_FOUND)
install(TARGETS install(TARGETS
rtabmap_costmap_plugins rtabmap_costmap_plugins
rtabmap_costmap_plugins2
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
costmap_plugins.xml
+2
View File
@@ -3,6 +3,8 @@
<class type="rtabmap_ros::StaticLayer" base_class_type="costmap_2d::Layer"> <class type="rtabmap_ros::StaticLayer" base_class_type="costmap_2d::Layer">
<description>Listens to OccupancyGrid messages and copies them in, like from map_server.</description> <description>Listens to OccupancyGrid messages and copies them in, like from map_server.</description>
</class> </class>
</library>
<library path="lib/librtabmap_costmap_plugins2">
<class type="rtabmap_ros::VoxelLayer" base_class_type="costmap_2d::Layer"> <class type="rtabmap_ros::VoxelLayer" base_class_type="costmap_2d::Layer">
<description>Similar to obstacle costmap, but uses 3D voxel grid to store data.</description> <description>Similar to obstacle costmap, but uses 3D voxel grid to store data.</description>
</class> </class>