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Removing ament_target_dependencies (#1424)

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* Removing ament_target_dependencies

* always update ros

* fixing rtabmap_costmap_plugins

* rtabmap rviz plugins Qt5

* fixing qt5 private, nav2 costmap 2d layers

* backward compatibility humble

* backward comaptibility pre lyrical

* fixing rolling build

* should work on rolling now

* fixed odom

* auto cancel previous jobs
This commit is contained in:
matlabbe
2026-05-06 22:56:41 -07:00
committed by GitHub
parent 8871f934b5
commit d9cd332c53
15 changed files with 305 additions and 101 deletions
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rtabmap_odom/CMakeLists.txt
+29 -12
View File
@@ -41,7 +41,25 @@ include_directories(
)
SET(Libraries
cv_bridge::cv_bridge
rclcpp_components::component
image_geometry::image_geometry
laser_geometry::laser_geometry
message_filters::message_filters
pcl_conversions::pcl_conversions
)
SET(PublicLibraries
rclcpp::rclcpp
sensor_msgs::sensor_msgs
nav_msgs::nav_msgs
rtabmap_conversions::rtabmap_conversions
rtabmap_msgs::rtabmap_msgs
rtabmap_util::rtabmap_util
rtabmap_sync::rtabmap_sync
)
SET(AmentLibraries
cv_bridge
rclcpp_components
image_geometry
laser_geometry
message_filters
@@ -81,10 +99,13 @@ target_include_directories(rtabmap_odom
)
add_library(rtabmap_odom_plugins SHARED ${rtabmap_odom_plugins_lib_src})
ament_target_dependencies(rtabmap_odom ${Libraries})
ament_target_dependencies(rtabmap_odom_plugins ${Libraries})
target_link_libraries(rtabmap_odom_plugins rtabmap_odom)
if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
ament_target_dependencies(rtabmap_odom ${AmentLibraries})
else()
target_link_libraries(rtabmap_odom PRIVATE ${Libraries} PUBLIC ${PublicLibraries})
target_link_libraries(rtabmap_odom_plugins PUBLIC ${Libraries})
endif()
target_link_libraries(rtabmap_odom_plugins PUBLIC rtabmap_odom)
rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::RGBDOdometry")
rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::StereoOdometry")
@@ -92,25 +113,21 @@ rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::ICPOdometry
add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
ament_target_dependencies(rtabmap_rgbd_odometry ${Libraries})
target_link_libraries(rtabmap_rgbd_odometry rtabmap_odom_plugins)
target_link_libraries(rtabmap_rgbd_odometry PRIVATE rtabmap_odom_plugins)
set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
ament_target_dependencies(rtabmap_stereo_odometry ${Libraries})
target_link_libraries(rtabmap_stereo_odometry rtabmap_odom_plugins)
target_link_libraries(rtabmap_stereo_odometry PRIVATE rtabmap_odom_plugins)
set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
ament_target_dependencies(rtabmap_icp_odometry ${Libraries})
target_link_libraries(rtabmap_icp_odometry rtabmap_odom_plugins)
target_link_libraries(rtabmap_icp_odometry PRIVATE rtabmap_odom_plugins)
set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
#############
## Install ##
#############
ament_export_dependencies(${Libraries})
ament_export_dependencies(${AmentLibraries})
ament_export_include_directories(include)
ament_export_targets(${PROJECT_NAME}) # To include downstream with targets
ament_export_libraries(rtabmap_odom rtabmap_odom_plugins) # To include downstream without targets