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Code Issues Packages Projects Releases Wiki Activity

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
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_util/CMakeLists.txt
+72 -50
View File
@@ -28,6 +28,8 @@ find_package(rtabmap_msgs REQUIRED)
find_package(rtabmap_conversions REQUIRED)
find_package(rtabmap_sync REQUIRED)
find_package(RTABMap COMPONENTS gui REQUIRED)
# Optional components
find_package(octomap_msgs)
find_package(grid_map_ros)
@@ -38,6 +40,29 @@ include_directories(
# libraries
SET(Libraries
cv_bridge::cv_bridge
image_transport::image_transport
rclcpp_components::component
stereo_msgs::stereo_msgs
std_msgs::std_msgs
tf2::tf2
tf2_geometry_msgs::tf2_geometry_msgs
tf2_ros::tf2_ros
laser_geometry::laser_geometry
image_geometry::image_geometry
message_filters::message_filters
rtabmap_msgs::rtabmap_msgs
rtabmap_sync::rtabmap_sync
)
SET(PublicLibraries
rclcpp::rclcpp
nav_msgs::nav_msgs
pcl_conversions::pcl_conversions
sensor_msgs::sensor_msgs
rtabmap_conversions::rtabmap_conversions
)
SET(AmentLibraries
cv_bridge
image_transport
rclcpp
@@ -65,9 +90,10 @@ endif()
###########
## Build ##
###########
SET(rtabmap_util_plugins_lib_src
src/MapsManager.cpp
SET(rtabmap_util_lib_src
src/MapsManager.cpp
)
SET(rtabmap_util_plugins_src
src/nodelets/point_cloud_xyzrgb.cpp
src/nodelets/point_cloud_xyz.cpp
src/nodelets/disparity_to_depth.cpp
@@ -83,16 +109,16 @@ SET(rtabmap_util_plugins_lib_src
src/nodelets/map_assembler.cpp
)
# If octomap is found, add dependency
IF(octomap_msgs_FOUND)
MESSAGE(STATUS "WITH octomap_msgs")
include_directories(
${octomap_msgs_INCLUDE_DIRS}
SET(PublicLibraries
octomap_msgs::octomap_msgs
${PublicLibraries}
)
SET(Libraries
SET(AmentLibraries
octomap_msgs
${Libraries}
${AmentLibraries}
)
ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
ENDIF(octomap_msgs_FOUND)
@@ -100,36 +126,46 @@ ENDIF(octomap_msgs_FOUND)
# If grid_map is found, add dependency
IF(grid_map_ros_FOUND)
MESSAGE(STATUS "WITH grid_map_ros")
include_directories(
${grid_map_ros_INCLUDE_DIRS}
SET(PublicLibraries
grid_map_ros::grid_map_ros
${PublicLibraries}
)
SET(Libraries
SET(AmentLibraries
grid_map_ros
${Libraries}
${AmentLibraries}
)
ENDIF(grid_map_ros_FOUND)
############################
## Declare a cpp library
############################
add_library(rtabmap_util_plugins SHARED
${rtabmap_util_plugins_lib_src}
add_library(rtabmap_util SHARED
${rtabmap_util_lib_src}
)
target_include_directories(rtabmap_util_plugins
add_library(rtabmap_util_plugins SHARED
${rtabmap_util_plugins_src}
)
target_include_directories(rtabmap_util
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
IF(octomap_msgs_FOUND)
target_compile_definitions(rtabmap_util_plugins PUBLIC -DWITH_OCTOMAP_MSGS)
target_compile_definitions(rtabmap_util PUBLIC -DWITH_OCTOMAP_MSGS)
ENDIF(octomap_msgs_FOUND)
IF(grid_map_ros_FOUND)
target_compile_definitions(rtabmap_util_plugins PUBLIC -DWITH_GRID_MAP_ROS)
target_compile_definitions(rtabmap_util PUBLIC -DWITH_GRID_MAP_ROS)
ENDIF(grid_map_ros_FOUND)
ament_target_dependencies(rtabmap_util_plugins ${Libraries})
if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
ament_target_dependencies(rtabmap_util ${AmentLibraries})
ELSE()
target_link_libraries(rtabmap_util PRIVATE ${Libraries} PUBLIC ${PublicLibraries})
target_link_libraries(rtabmap_util_plugins PUBLIC ${Libraries})
ENDIF()
target_link_libraries(rtabmap_util_plugins PUBLIC rtabmap_util)
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDRelay")
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDSplit")
@@ -146,88 +182,73 @@ rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudA
rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::MapAssembler")
add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
ament_target_dependencies(rtabmap_rgbd_relay ${Libraries})
target_link_libraries(rtabmap_rgbd_relay rtabmap_util_plugins)
target_link_libraries(rtabmap_rgbd_relay PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
add_executable(rtabmap_rgbd_split src/RGBDSplitNode.cpp)
ament_target_dependencies(rtabmap_rgbd_split ${Libraries})
target_link_libraries(rtabmap_rgbd_split rtabmap_util_plugins)
target_link_libraries(rtabmap_rgbd_split PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")
#add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
#ament_target_dependencies(rtabmap_map_optimizer ${Libraries})
#target_link_libraries(rtabmap_map_optimizer rtabmap_util_plugins)
#set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
ament_target_dependencies(rtabmap_map_assembler ${Libraries})
target_link_libraries(rtabmap_map_assembler rtabmap_util_plugins)
target_link_libraries(rtabmap_map_assembler PRIVATE 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)
target_link_libraries(rtabmap_imu_to_tf PRIVATE 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)
target_link_libraries(rtabmap_disparity_to_depth PRIVATE 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})
target_link_libraries(rtabmap_lidar_deskewing rtabmap_util_plugins)
target_link_libraries(rtabmap_lidar_deskewing PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_lidar_deskewing PROPERTIES OUTPUT_NAME "lidar_deskewing")
add_executable(rtabmap_point_cloud_xyz src/PointCloudXYZNode.cpp)
ament_target_dependencies(rtabmap_point_cloud_xyz ${Libraries})
target_link_libraries(rtabmap_point_cloud_xyz rtabmap_util_plugins)
target_link_libraries(rtabmap_point_cloud_xyz PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_point_cloud_xyz PROPERTIES OUTPUT_NAME "point_cloud_xyz")
add_executable(rtabmap_point_cloud_xyzrgb src/PointCloudXYZRGBNode.cpp)
ament_target_dependencies(rtabmap_point_cloud_xyzrgb ${Libraries})
target_link_libraries(rtabmap_point_cloud_xyzrgb rtabmap_util_plugins)
target_link_libraries(rtabmap_point_cloud_xyzrgb PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_point_cloud_xyzrgb PROPERTIES OUTPUT_NAME "point_cloud_xyzrgb")
add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
ament_target_dependencies(rtabmap_data_player ${Libraries})
target_link_libraries(rtabmap_data_player rtabmap_util_plugins)
target_link_libraries(rtabmap_data_player PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
#add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
#ament_target_dependencies(rtabmap_odom_msg_to_tf ${Libraries})
#target_link_libraries(rtabmap_odom_msg_to_tf rtabmap_util_plugins)
#target_link_libraries(rtabmap_odom_msg_to_tf PRIVATE ${Libraries})
#target_link_libraries(rtabmap_odom_msg_to_tf PRIVATE rtabmap_util_plugins)
#set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
ament_target_dependencies(rtabmap_pointcloud_to_depthimage ${Libraries})
target_link_libraries(rtabmap_pointcloud_to_depthimage rtabmap_util_plugins)
target_link_libraries(rtabmap_pointcloud_to_depthimage PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
add_executable(rtabmap_obstacles_detection src/ObstaclesDetectionNode.cpp)
ament_target_dependencies(rtabmap_obstacles_detection ${Libraries})
target_link_libraries(rtabmap_obstacles_detection rtabmap_util_plugins)
target_link_libraries(rtabmap_obstacles_detection PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_obstacles_detection PROPERTIES OUTPUT_NAME "obstacles_detection")
add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
ament_target_dependencies(rtabmap_point_cloud_aggregator ${Libraries})
target_link_libraries(rtabmap_point_cloud_aggregator rtabmap_util_plugins)
target_link_libraries(rtabmap_point_cloud_aggregator PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "point_cloud_aggregator")
add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
ament_target_dependencies(rtabmap_point_cloud_assembler ${Libraries})
target_link_libraries(rtabmap_point_cloud_assembler rtabmap_util_plugins)
target_link_libraries(rtabmap_point_cloud_assembler PRIVATE rtabmap_util_plugins)
set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
#############
## Install ##
#############
ament_export_dependencies(${Libraries})
ament_export_dependencies(${AmentLibraries})
ament_export_include_directories(include)
ament_export_targets(${PROJECT_NAME}) # To include downstream with targets
ament_export_libraries(rtabmap_util_plugins) # To include downstream without targets
ament_export_libraries(rtabmap_util rtabmap_util_plugins) # To include downstream without targets
# Install Python executables
@@ -244,6 +265,7 @@ install(PROGRAMS
)
install(TARGETS
rtabmap_util
rtabmap_util_plugins
EXPORT ${PROJECT_NAME}
ARCHIVE DESTINATION lib