mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
created ros2 branch
This commit is contained in:
matlabbe
+443
-334
@@ -1,47 +1,66 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
project(rtabmap_ros)
|
||||
|
||||
# Policy CMP0043 introduced in cmake version 3.0 IGNORES the use of COMPILE_DEFINITIONS suffixed variables, e.g. COMPILE_DEFINITIONS_DEBUG
|
||||
# Set to OLD behavior until minimum cmake version >= 2.8.10 (version that COMPILE_DEFINITIONS can be set by generator expressions instead)
|
||||
if (POLICY CMP0043)
|
||||
cmake_policy(SET CMP0043 OLD)
|
||||
endif (POLICY CMP0043)
|
||||
# Policy CMP0042 introduced in cmake version 3.0 enables the use of @rpath in an install name via MACOSX_RPATH by default
|
||||
# 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)
|
||||
if (POLICY CMP0042)
|
||||
cmake_policy(SET CMP0042 OLD)
|
||||
endif (POLICY CMP0042)
|
||||
# Default to C99
|
||||
if(NOT CMAKE_C_STANDARD)
|
||||
set(CMAKE_C_STANDARD 99)
|
||||
endif()
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
|
||||
image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions
|
||||
pcl_ros nodelet dynamic_reconfigure message_filters class_loader rosgraph_msgs
|
||||
genmsg stereo_msgs move_base_msgs image_geometry pluginlib
|
||||
)
|
||||
# Default to C++14
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
endif()
|
||||
|
||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||
endif()
|
||||
|
||||
# find dependencies
|
||||
find_package(ament_cmake REQUIRED)
|
||||
find_package(builtin_interfaces REQUIRED)
|
||||
find_package(rosidl_default_generators REQUIRED)
|
||||
find_package(rclcpp REQUIRED)
|
||||
find_package(rclcpp_components REQUIRED)
|
||||
# uncomment the following section in order to fill in
|
||||
# further dependencies manually.
|
||||
# find_package(<dependency> REQUIRED)
|
||||
find_package(cv_bridge REQUIRED)
|
||||
find_package(sensor_msgs REQUIRED)
|
||||
find_package(std_msgs REQUIRED)
|
||||
find_package(std_srvs REQUIRED)
|
||||
find_package(nav_msgs REQUIRED)
|
||||
find_package(stereo_msgs REQUIRED)
|
||||
find_package(geometry_msgs REQUIRED)
|
||||
find_package(visualization_msgs REQUIRED)
|
||||
find_package(image_transport REQUIRED)
|
||||
find_package(tf2 REQUIRED)
|
||||
find_package(tf2_ros REQUIRED)
|
||||
#find_package(eigen_conversions REQUIRED)
|
||||
find_package(laser_geometry REQUIRED)
|
||||
find_package(pcl_conversions REQUIRED)
|
||||
#find_package(pcl_ros REQUIRED)
|
||||
#find_package(dynamic_reconfigure REQUIRED)
|
||||
find_package(message_filters REQUIRED)
|
||||
find_package(class_loader REQUIRED)
|
||||
#find_package(rosgraph_msgs REQUIRED)
|
||||
find_package(image_geometry REQUIRED)
|
||||
#find_package(pluginlib REQUIRED)
|
||||
|
||||
# Optional components
|
||||
find_package(costmap_2d)
|
||||
find_package(octomap_msgs)
|
||||
find_package(apriltag_ros)
|
||||
find_package(rviz)
|
||||
find_package(find_object_2d)
|
||||
#find_package(costmap_2d)
|
||||
#find_package(octomap_msgs)
|
||||
#find_package(apriltag_ros)
|
||||
#find_package(find_object_2d)
|
||||
|
||||
## System dependencies are found with CMake's conventions
|
||||
# find_package(Boost REQUIRED COMPONENTS system)
|
||||
find_package(RTABMap 0.19.5 REQUIRED)
|
||||
|
||||
find_package(OpenCV REQUIRED)
|
||||
|
||||
find_package(PCL 1.7 REQUIRED)
|
||||
add_definitions(${PCL_DEFINITIONS}) # To include -march=native if set
|
||||
find_package(Boost REQUIRED COMPONENTS system) # dependencies from PCL
|
||||
find_package(PCL 1.7 REQUIRED COMPONENTS kdtree) #This crashes idl generation if all components are found?! see https://github.com/ros2/rosidl/issues/402#issuecomment-565586908
|
||||
|
||||
#Qt stuff
|
||||
# If librtabmap_gui.so is found, rtabmapviz will be built
|
||||
# If rviz is found, plugins will be built
|
||||
IF(RTABMAP_GUI OR rviz_FOUND)
|
||||
IF(RTABMAP_GUI OR rviz_default_plugins_FOUND)
|
||||
IF(RTABMAP_QT_VERSION EQUAL 4)
|
||||
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
|
||||
INCLUDE(${QT_USE_FILE})
|
||||
@@ -57,58 +76,56 @@ IF(RTABMAP_GUI OR rviz_FOUND)
|
||||
ENDIF(NOT Qt5_FOUND)
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
ENDIF(RTABMAP_GUI OR rviz_FOUND)
|
||||
ENDIF(RTABMAP_GUI OR rviz_default_plugins_FOUND)
|
||||
|
||||
find_package(rviz_common REQUIRED)
|
||||
find_package(rviz_rendering REQUIRED)
|
||||
find_package(rviz_default_plugins REQUIRED)
|
||||
|
||||
## Uncomment this if the package has a setup.py. This macro ensures
|
||||
## modules and global scripts declared therein get installed
|
||||
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||
# catkin_python_setup()
|
||||
|
||||
#######################################
|
||||
## Declare ROS messages and services ##
|
||||
#######################################
|
||||
|
||||
## Generate messages in the 'msg' folder
|
||||
add_message_files(
|
||||
FILES
|
||||
Info.msg
|
||||
KeyPoint.msg
|
||||
MapData.msg
|
||||
MapGraph.msg
|
||||
NodeData.msg
|
||||
Link.msg
|
||||
OdomInfo.msg
|
||||
Point2f.msg
|
||||
Point3f.msg
|
||||
Goal.msg
|
||||
RGBDImage.msg
|
||||
UserData.msg
|
||||
GPS.msg
|
||||
Path.msg
|
||||
)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
add_service_files(
|
||||
FILES
|
||||
GetMap.srv
|
||||
ListLabels.srv
|
||||
PublishMap.srv
|
||||
ResetPose.srv
|
||||
SetGoal.srv
|
||||
SetLabel.srv
|
||||
GetPlan.srv
|
||||
# declare the message files to generate code for
|
||||
set(msg_files
|
||||
"msg/Info.msg"
|
||||
"msg/KeyPoint.msg"
|
||||
"msg/MapData.msg"
|
||||
"msg/MapGraph.msg"
|
||||
"msg/NodeData.msg"
|
||||
"msg/Link.msg"
|
||||
"msg/OdomInfo.msg"
|
||||
"msg/Point2f.msg"
|
||||
"msg/Point3f.msg"
|
||||
"msg/Goal.msg"
|
||||
"msg/RGBDImage.msg"
|
||||
"msg/UserData.msg"
|
||||
"msg/GPS.msg"
|
||||
"msg/Path.msg"
|
||||
)
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
generate_messages(
|
||||
DEPENDENCIES
|
||||
std_msgs
|
||||
geometry_msgs
|
||||
sensor_msgs
|
||||
)
|
||||
# declare the service files to generate code for
|
||||
set(srv_files
|
||||
"srv/GetMap.srv"
|
||||
"srv/ListLabels.srv"
|
||||
"srv/PublishMap.srv"
|
||||
"srv/ResetPose.srv"
|
||||
"srv/SetGoal.srv"
|
||||
"srv/SetLabel.srv"
|
||||
"srv/GetPlan.srv"
|
||||
)
|
||||
|
||||
## Generate messages and services
|
||||
rosidl_generate_interfaces(rtabmap_msgs
|
||||
${msg_files}
|
||||
${srv_files}
|
||||
DEPENDENCIES geometry_msgs std_msgs sensor_msgs std_srvs visualization_msgs image_geometry
|
||||
)
|
||||
ament_export_dependencies(rosidl_default_runtime)
|
||||
|
||||
#add dynamic reconfigure api
|
||||
generate_dynamic_reconfigure_options(cfg/Camera.cfg)
|
||||
#generate_dynamic_reconfigure_options(cfg/Camera.cfg)
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
@@ -120,29 +137,19 @@ generate_dynamic_reconfigure_options(cfg/Camera.cfg)
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
|
||||
SET(optional_dependencies "")
|
||||
IF(costmap_2d_FOUND)
|
||||
SET(optional_dependencies ${optional_dependencies} costmap_2d)
|
||||
ENDIF(costmap_2d_FOUND)
|
||||
IF(octomap_msgs_FOUND)
|
||||
SET(optional_dependencies ${optional_dependencies} octomap_msgs)
|
||||
ENDIF(octomap_msgs_FOUND)
|
||||
IF(rviz_FOUND)
|
||||
SET(optional_dependencies ${optional_dependencies} rviz)
|
||||
ENDIF(rviz_FOUND)
|
||||
IF(find_object_2d_FOUND)
|
||||
SET(optional_dependencies ${optional_dependencies} find_object_2d)
|
||||
ENDIF(find_object_2d_FOUND)
|
||||
|
||||
catkin_package(
|
||||
INCLUDE_DIRS include
|
||||
LIBRARIES rtabmap_ros
|
||||
CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
|
||||
image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions
|
||||
pcl_ros nodelet dynamic_reconfigure message_filters class_loader rosgraph_msgs
|
||||
stereo_msgs move_base_msgs image_geometry ${optional_dependencies}
|
||||
DEPENDS RTABMap OpenCV
|
||||
)
|
||||
#SET(optional_dependencies "")
|
||||
#IF(costmap_2d_FOUND)
|
||||
# SET(optional_dependencies ${optional_dependencies} costmap_2d)
|
||||
#ENDIF(costmap_2d_FOUND)
|
||||
#IF(octomap_msgs_FOUND)
|
||||
# SET(optional_dependencies ${optional_dependencies} octomap_msgs)
|
||||
#ENDIF(octomap_msgs_FOUND)
|
||||
#IF(rviz_default_plugins_FOUND)
|
||||
# SET(optional_dependencies ${optional_dependencies} rviz)
|
||||
#ENDIF(rviz_default_plugins_FOUND)
|
||||
#IF(find_object_2d_FOUND)
|
||||
# SET(optional_dependencies ${optional_dependencies} find_object_2d)
|
||||
#ENDIF(find_object_2d_FOUND)
|
||||
|
||||
###########
|
||||
## Build ##
|
||||
@@ -154,19 +161,30 @@ catkin_package(
|
||||
include_directories(
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/include
|
||||
${RTABMap_INCLUDE_DIRS}
|
||||
${OpenCV_INCLUDE_DIRS}
|
||||
${PCL_INCLUDE_DIRS}
|
||||
${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
# libraries
|
||||
SET(Libraries
|
||||
${OpenCV_LIBRARIES}
|
||||
${PCL_LIBRARIES}
|
||||
${catkin_LIBRARIES}
|
||||
${RTABMap_LIBRARIES}
|
||||
pcl_conversions
|
||||
cv_bridge
|
||||
rclcpp
|
||||
rclcpp_components
|
||||
sensor_msgs
|
||||
std_msgs
|
||||
nav_msgs
|
||||
geometry_msgs
|
||||
image_transport
|
||||
tf2
|
||||
tf2_ros
|
||||
laser_geometry
|
||||
message_filters
|
||||
class_loader
|
||||
visualization_msgs
|
||||
image_geometry
|
||||
stereo_msgs
|
||||
)
|
||||
|
||||
|
||||
SET(rtabmap_sync_lib_src
|
||||
src/CommonDataSubscriber.cpp
|
||||
src/impl/CommonDataSubscriberDepth.cpp
|
||||
@@ -185,153 +203,184 @@ SET(rtabmap_ros_lib_src
|
||||
src/MsgConversion.cpp
|
||||
src/MapsManager.cpp
|
||||
src/OdometryROS.cpp
|
||||
src/PluginInterface.cpp
|
||||
# src/PluginInterface.cpp
|
||||
)
|
||||
|
||||
SET(rtabmap_plugins_lib_src
|
||||
src/nodelets/rgbd_odometry.cpp
|
||||
src/nodelets/stereo_odometry.cpp
|
||||
src/nodelets/rgbdicp_odometry.cpp
|
||||
src/nodelets/icp_odometry.cpp
|
||||
src/nodelets/data_throttle.cpp
|
||||
src/nodelets/stereo_throttle.cpp
|
||||
src/nodelets/data_odom_sync.cpp
|
||||
src/nodelets/point_cloud_xyzrgb.cpp
|
||||
src/nodelets/point_cloud_xyz.cpp
|
||||
src/nodelets/disparity_to_depth.cpp
|
||||
src/nodelets/pointcloud_to_depthimage.cpp
|
||||
src/nodelets/obstacles_detection.cpp
|
||||
src/nodelets/obstacles_detection_old.cpp
|
||||
src/nodelets/point_cloud_aggregator.cpp
|
||||
src/nodelets/point_cloud_assembler.cpp
|
||||
src/nodelets/undistort_depth.cpp
|
||||
src/nodelets/imu_to_tf.cpp
|
||||
src/nodelets/rgbd_odometry.cpp
|
||||
src/nodelets/stereo_odometry.cpp
|
||||
# src/nodelets/rgbdicp_odometry.cpp
|
||||
src/nodelets/icp_odometry.cpp
|
||||
# src/nodelets/data_throttle.cpp
|
||||
# src/nodelets/stereo_throttle.cpp
|
||||
# src/nodelets/data_odom_sync.cpp
|
||||
src/nodelets/point_cloud_xyzrgb.cpp
|
||||
src/nodelets/point_cloud_xyz.cpp
|
||||
# src/nodelets/disparity_to_depth.cpp
|
||||
src/nodelets/pointcloud_to_depthimage.cpp
|
||||
src/nodelets/obstacles_detection.cpp
|
||||
# src/nodelets/obstacles_detection_old.cpp
|
||||
# src/nodelets/point_cloud_aggregator.cpp
|
||||
# src/nodelets/point_cloud_assembler.cpp
|
||||
# src/nodelets/undistort_depth.cpp
|
||||
# src/nodelets/imu_to_tf.cpp
|
||||
src/nodelets/rgbd_sync.cpp
|
||||
src/nodelets/stereo_sync.cpp
|
||||
src/nodelets/rgbd_relay.cpp
|
||||
)
|
||||
|
||||
IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
|
||||
SET(rtabmap_plugins_lib_src ${rtabmap_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgbd_relay.cpp)
|
||||
ELSE()
|
||||
ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
|
||||
ENDIF()
|
||||
|
||||
# If octomap is found, add definition
|
||||
IF(octomap_msgs_FOUND)
|
||||
MESSAGE(STATUS "WITH octomap_msgs")
|
||||
include_directories(
|
||||
${octomap_msgs_INCLUDE_DIRS}
|
||||
)
|
||||
SET(Libraries
|
||||
${octomap_msgs_LIBRARIES}
|
||||
${Libraries}
|
||||
)
|
||||
ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
|
||||
ENDIF(octomap_msgs_FOUND)
|
||||
#IF(octomap_msgs_FOUND)
|
||||
#MESSAGE(STATUS "WITH octomap_msgs")
|
||||
#include_directories(
|
||||
# ${octomap_msgs_INCLUDE_DIRS}
|
||||
#)
|
||||
#SET(Libraries
|
||||
# octomap_msgs
|
||||
# ${Libraries}
|
||||
#)
|
||||
#ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
|
||||
#ENDIF(octomap_msgs_FOUND)
|
||||
|
||||
# If apriltag_ros is found, add definition
|
||||
IF(apriltag_ros_FOUND)
|
||||
MESSAGE(STATUS "WITH apriltag_ros")
|
||||
include_directories(
|
||||
${apriltag_ros_INCLUDE_DIRS}
|
||||
)
|
||||
SET(Libraries
|
||||
${apriltag_ros_LIBRARIES}
|
||||
${Libraries}
|
||||
)
|
||||
ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
|
||||
ENDIF(apriltag_ros_FOUND)
|
||||
#IF(apriltag_ros_FOUND)
|
||||
#MESSAGE(STATUS "WITH apriltag_ros")
|
||||
#include_directories(
|
||||
# ${apriltag_ros_INCLUDE_DIRS}
|
||||
#)
|
||||
#SET(Libraries
|
||||
# apriltag_ros
|
||||
# ${Libraries}
|
||||
#)
|
||||
#ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
|
||||
#ENDIF(apriltag_ros_FOUND)
|
||||
|
||||
############################
|
||||
## Declare a cpp library
|
||||
############################
|
||||
add_library(rtabmap_sync
|
||||
${rtabmap_sync_lib_src}
|
||||
)
|
||||
add_library(rtabmap_ros
|
||||
${rtabmap_ros_lib_src}
|
||||
)
|
||||
add_library(rtabmap_plugins
|
||||
${rtabmap_plugins_lib_src}
|
||||
)
|
||||
add_library(rtabmap_ros SHARED ${rtabmap_ros_lib_src})
|
||||
add_library(rtabmap_sync SHARED ${rtabmap_sync_lib_src})
|
||||
add_library(rtabmap_plugins SHARED ${rtabmap_plugins_lib_src})
|
||||
|
||||
target_link_libraries(rtabmap_sync
|
||||
rtabmap_ros
|
||||
)
|
||||
target_link_libraries(rtabmap_ros
|
||||
${Libraries}
|
||||
)
|
||||
target_link_libraries(rtabmap_plugins
|
||||
rtabmap_ros
|
||||
)
|
||||
add_dependencies(rtabmap_ros ${${PROJECT_NAME}_EXPORTED_TARGETS})
|
||||
add_dependencies(rtabmap_plugins ${${PROJECT_NAME}_EXPORTED_TARGETS})
|
||||
ament_target_dependencies(rtabmap_ros ${Libraries})
|
||||
ament_target_dependencies(rtabmap_sync ${Libraries})
|
||||
ament_target_dependencies(rtabmap_plugins ${Libraries})
|
||||
|
||||
target_link_libraries(rtabmap_ros ${RTABMap_LIBRARIES})
|
||||
target_link_libraries(rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES})
|
||||
target_link_libraries(rtabmap_plugins rtabmap_ros ${RTABMap_LIBRARIES})
|
||||
|
||||
rosidl_target_interfaces(rtabmap_ros rtabmap_msgs "rosidl_typesupport_cpp")
|
||||
rosidl_target_interfaces(rtabmap_sync rtabmap_msgs "rosidl_typesupport_cpp")
|
||||
rosidl_target_interfaces(rtabmap_plugins rtabmap_msgs "rosidl_typesupport_cpp")
|
||||
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDOdometry")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoOdometry")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::ICPOdometry")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDRelay")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDSync")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoSync")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudXYZ")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudXYZRGB")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudToDepthImage")
|
||||
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::ObstaclesDetection")
|
||||
|
||||
rclcpp_components_register_nodes(rtabmap_sync "rtabmap_ros::CoreWrapper")
|
||||
|
||||
add_executable(rtabmap src/CoreNode.cpp)
|
||||
target_link_libraries(rtabmap ${Libraries})
|
||||
ament_target_dependencies(rtabmap ${Libraries})
|
||||
target_link_libraries(rtabmap rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES})
|
||||
|
||||
add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
|
||||
target_link_libraries(rtabmap_rgbd_odometry ${Libraries})
|
||||
ament_target_dependencies(rtabmap_rgbd_odometry ${Libraries})
|
||||
target_link_libraries(rtabmap_rgbd_odometry rtabmap_plugins ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES})
|
||||
set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
|
||||
|
||||
add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
|
||||
target_link_libraries(rtabmap_stereo_odometry ${Libraries})
|
||||
ament_target_dependencies(rtabmap_stereo_odometry ${Libraries})
|
||||
target_link_libraries(rtabmap_stereo_odometry rtabmap_plugins ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES})
|
||||
set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
|
||||
|
||||
add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
|
||||
target_link_libraries(rtabmap_rgbdicp_odometry ${Libraries})
|
||||
set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
|
||||
#add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
|
||||
#ament_target_dependencies(rtabmap_rgbdicp_odometry ${Libraries})
|
||||
#set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
|
||||
|
||||
add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
|
||||
target_link_libraries(rtabmap_icp_odometry ${Libraries})
|
||||
ament_target_dependencies(rtabmap_icp_odometry ${Libraries})
|
||||
target_link_libraries(rtabmap_icp_odometry rtabmap_plugins ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES})
|
||||
set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
|
||||
|
||||
add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
|
||||
target_link_libraries(rtabmap_rgbd_sync ${Libraries})
|
||||
ament_target_dependencies(rtabmap_rgbd_sync ${Libraries})
|
||||
target_link_libraries(rtabmap_rgbd_sync rtabmap_plugins ${RTABMap_LIBRARIES})
|
||||
set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
|
||||
|
||||
add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
|
||||
ament_target_dependencies(rtabmap_stereo_sync ${Libraries})
|
||||
target_link_libraries(rtabmap_stereo_sync rtabmap_plugins ${RTABMap_LIBRARIES})
|
||||
set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
|
||||
|
||||
add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
|
||||
target_link_libraries(rtabmap_rgbd_relay ${Libraries})
|
||||
ament_target_dependencies(rtabmap_rgbd_relay ${Libraries})
|
||||
target_link_libraries(rtabmap_rgbd_relay rtabmap_plugins ${RTABMap_LIBRARIES})
|
||||
set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
|
||||
|
||||
add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
|
||||
target_link_libraries(rtabmap_map_optimizer rtabmap_ros)
|
||||
set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
|
||||
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_plugins ${RTABMap_LIBRARIES})
|
||||
set_target_properties(rtabmap_point_cloud_xyz PROPERTIES OUTPUT_NAME "point_cloud_xyz")
|
||||
|
||||
add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
|
||||
target_link_libraries(rtabmap_map_assembler rtabmap_ros)
|
||||
set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
|
||||
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_plugins ${RTABMap_LIBRARIES})
|
||||
set_target_properties(rtabmap_point_cloud_xyzrgb PROPERTIES OUTPUT_NAME "point_cloud_xyzrgb")
|
||||
|
||||
add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
|
||||
target_link_libraries(rtabmap_imu_to_tf ${Libraries})
|
||||
set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
|
||||
add_executable(rtabmap_obstacles_detection src/ObstaclesDetectionNode.cpp)
|
||||
ament_target_dependencies(rtabmap_obstacles_detection ${Libraries})
|
||||
target_link_libraries(rtabmap_obstacles_detection rtabmap_plugins ${RTABMap_LIBRARIES})
|
||||
set_target_properties(rtabmap_obstacles_detection PROPERTIES OUTPUT_NAME "obstacles_detection")
|
||||
|
||||
add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
|
||||
target_link_libraries(rtabmap_wifi_signal_pub rtabmap_ros)
|
||||
set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
|
||||
add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
|
||||
target_link_libraries(rtabmap_wifi_signal_sub rtabmap_ros)
|
||||
set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
|
||||
#add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
|
||||
#ament_target_dependencies(rtabmap_map_optimizer rtabmap_ros)
|
||||
#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 rtabmap_ros)
|
||||
#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 ${Libraries})
|
||||
#set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
|
||||
|
||||
#add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
|
||||
#ament_target_dependencies(rtabmap_wifi_signal_pub rtabmap_ros)
|
||||
#set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
|
||||
#add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
|
||||
#ament_target_dependencies(rtabmap_wifi_signal_sub rtabmap_ros)
|
||||
#set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
|
||||
|
||||
# If find_object_2d is found, add save objects example
|
||||
IF(find_object_2d_FOUND)
|
||||
MESSAGE(STATUS "WITH find_object_2d")
|
||||
include_directories(${find_object_2d_INCLUDE_DIRS})
|
||||
add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
|
||||
target_link_libraries(rtabmap_save_objects_example ${Libraries} rtabmap_ros ${find_object_2d_LIBRARIES})
|
||||
set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
|
||||
ENDIF(find_object_2d_FOUND)
|
||||
#IF(find_object_2d_FOUND)
|
||||
# MESSAGE(STATUS "WITH find_object_2d")
|
||||
# include_directories(${find_object_2d_INCLUDE_DIRS})
|
||||
# add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
|
||||
# ament_target_dependencies(rtabmap_save_objects_example ${Libraries} rtabmap_ros ${find_object_2d_LIBRARIES})
|
||||
# set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
|
||||
#ENDIF(find_object_2d_FOUND)
|
||||
|
||||
add_executable(rtabmap_camera src/CameraNode.cpp)
|
||||
add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
|
||||
target_link_libraries(rtabmap_camera ${Libraries})
|
||||
set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
|
||||
#add_executable(rtabmap_camera src/CameraNode.cpp)
|
||||
#add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
|
||||
#ament_target_dependencies(rtabmap_camera ${Libraries})
|
||||
#set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
|
||||
|
||||
add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp)
|
||||
target_link_libraries(rtabmap_stereo_camera rtabmap_ros)
|
||||
set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
|
||||
#add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp)
|
||||
#ament_target_dependencies(rtabmap_stereo_camera rtabmap_ros)
|
||||
#set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
|
||||
|
||||
IF(RTABMAP_GUI)
|
||||
add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
|
||||
target_link_libraries(rtabmapviz rtabmap_sync ${QT_LIBRARIES})
|
||||
ament_target_dependencies(rtabmapviz ${Libraries})
|
||||
target_link_libraries(rtabmapviz rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES} ${QT_LIBRARIES})
|
||||
IF(Qt5_FOUND)
|
||||
QT5_USE_MODULES(rtabmapviz Widgets Core Gui)
|
||||
ENDIF()
|
||||
@@ -339,52 +388,84 @@ ELSE()
|
||||
MESSAGE(WARNING "Found RTAB-Map built without its GUI library. Node rtabmapviz will not be built!")
|
||||
ENDIF()
|
||||
|
||||
add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
|
||||
target_link_libraries(rtabmap_data_player rtabmap_ros)
|
||||
set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
|
||||
#add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
|
||||
#ament_target_dependencies(rtabmap_data_player rtabmap_ros)
|
||||
#set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
|
||||
|
||||
add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
|
||||
target_link_libraries(rtabmap_odom_msg_to_tf rtabmap_ros)
|
||||
set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
|
||||
#add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
|
||||
#ament_target_dependencies(rtabmap_odom_msg_to_tf rtabmap_ros)
|
||||
#set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
|
||||
|
||||
add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
|
||||
target_link_libraries(rtabmap_pointcloud_to_depthimage ${Libraries})
|
||||
ament_target_dependencies(rtabmap_pointcloud_to_depthimage ${Libraries})
|
||||
target_link_libraries(rtabmap_pointcloud_to_depthimage rtabmap_plugins ${RTABMap_LIBRARIES})
|
||||
set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
|
||||
|
||||
# Only required when using messages built from the same package
|
||||
# https://index.ros.org/doc/ros2/Tutorials/Rosidl-Tutorial/
|
||||
get_default_rmw_implementation(rmw_implementation)
|
||||
find_package("${rmw_implementation}" REQUIRED)
|
||||
get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
|
||||
|
||||
foreach(typesupport_impl ${typesupport_impls})
|
||||
rosidl_target_interfaces(rtabmap_rgbd_odometry
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmap_stereo_odometry
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmap_icp_odometry
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmap_rgbd_relay
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmap_rgbd_sync
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmap_stereo_sync
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmap_pointcloud_to_depthimage
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmap_point_cloud_xyzrgb
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmap
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
rosidl_target_interfaces(rtabmapviz
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
endforeach()
|
||||
|
||||
# If rviz is found, add plugins
|
||||
IF(rviz_FOUND)
|
||||
IF(rviz_default_plugins_FOUND)
|
||||
|
||||
## We also use Ogre for rviz plugins
|
||||
include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
|
||||
pkg_check_modules(OGRE OGRE)
|
||||
#include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
|
||||
#pkg_check_modules(OGRE OGRE)
|
||||
include_directories( ${OGRE_INCLUDE_DIRS} )
|
||||
link_directories( ${OGRE_LIBRARY_DIRS} )
|
||||
#link_directories( ${OGRE_LIBRARY_DIRS} )
|
||||
|
||||
MESSAGE(STATUS "WITH rviz")
|
||||
include_directories(
|
||||
${rviz_INCLUDE_DIRS}
|
||||
)
|
||||
SET(Libraries
|
||||
${Libraries}
|
||||
${rviz_LIBRARIES}
|
||||
${rviz_DEFAULT_PLUGIN_LIBRARIES}
|
||||
)
|
||||
|
||||
|
||||
## RVIZ plugin
|
||||
IF(QT4_FOUND)
|
||||
qt4_wrap_cpp(MOC_FILES
|
||||
src/rviz/MapCloudDisplay.h
|
||||
src/rviz/MapGraphDisplay.h
|
||||
src/rviz/InfoDisplay.h
|
||||
src/rviz/OrbitOrientedViewController.h
|
||||
)
|
||||
qt4_wrap_cpp(MOC_FILES
|
||||
src/rviz/MapCloudDisplay.h
|
||||
src/rviz/MapGraphDisplay.h
|
||||
src/rviz/InfoDisplay.h
|
||||
#src/rviz/OrbitOrientedViewController.h
|
||||
)
|
||||
ELSE()
|
||||
qt5_wrap_cpp(MOC_FILES
|
||||
src/rviz/MapCloudDisplay.h
|
||||
src/rviz/MapGraphDisplay.h
|
||||
src/rviz/InfoDisplay.h
|
||||
src/rviz/OrbitOrientedViewController.h
|
||||
)
|
||||
qt5_wrap_cpp(MOC_FILES
|
||||
src/rviz/MapCloudDisplay.h
|
||||
src/rviz/MapGraphDisplay.h
|
||||
src/rviz/InfoDisplay.h
|
||||
#src/rviz/OrbitOrientedViewController.h
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
# tf:message_filters, mixing boost and Qt signals
|
||||
@@ -392,43 +473,63 @@ IF(rviz_FOUND)
|
||||
SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
|
||||
PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
|
||||
)
|
||||
add_library(rtabmap_rviz_plugins
|
||||
add_library(rtabmap_rviz_plugins SHARED
|
||||
src/rviz/MapCloudDisplay.cpp
|
||||
src/rviz/MapGraphDisplay.cpp
|
||||
src/rviz/InfoDisplay.cpp
|
||||
src/rviz/OrbitOrientedViewController.cpp
|
||||
#src/rviz/OrbitOrientedViewController.cpp
|
||||
${MOC_FILES}
|
||||
)
|
||||
target_link_libraries(rtabmap_rviz_plugins
|
||||
rtabmap_ros
|
||||
|
||||
ament_target_dependencies(rtabmap_rviz_plugins
|
||||
${Libraries}
|
||||
rviz_common
|
||||
rviz_rendering
|
||||
rviz_default_plugins
|
||||
)
|
||||
#ament_export_interfaces(rtabmap_rviz_plugins HAS_LIBRARY_TARGET)
|
||||
target_link_libraries(rtabmap_rviz_plugins rtabmap_ros)
|
||||
IF(Qt5_FOUND)
|
||||
QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
|
||||
ENDIF(Qt5_FOUND)
|
||||
add_dependencies(rtabmap_rviz_plugins ${${PROJECT_NAME}_EXPORTED_TARGETS})
|
||||
|
||||
ENDIF(rviz_FOUND)
|
||||
foreach(typesupport_impl ${typesupport_impls})
|
||||
rosidl_target_interfaces(rtabmap_rviz_plugins
|
||||
rtabmap_msgs ${typesupport_impl}
|
||||
)
|
||||
endforeach()
|
||||
|
||||
# Causes the visibility macros to use dllexport rather than dllimport,
|
||||
# which is appropriate when building the dll but not consuming it.
|
||||
target_compile_definitions(rtabmap_rviz_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")
|
||||
|
||||
# prevent pluginlib from using boost
|
||||
target_compile_definitions(rtabmap_rviz_plugins PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
|
||||
|
||||
pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
|
||||
|
||||
ENDIF(rviz_default_plugins_FOUND)
|
||||
|
||||
# If costmap_2d is found, add the plugins
|
||||
IF(costmap_2d_FOUND)
|
||||
MESSAGE(STATUS "WITH costmap_2d")
|
||||
IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
|
||||
ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
|
||||
ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
|
||||
include_directories(${costmap_2d_INCLUDE_DIRS})
|
||||
add_library(rtabmap_costmap_plugins
|
||||
src/costmap_2d/static_layer.cpp
|
||||
)
|
||||
add_library(rtabmap_costmap_plugins2
|
||||
src/costmap_2d/voxel_layer.cpp
|
||||
)
|
||||
target_link_libraries(rtabmap_costmap_plugins
|
||||
${costmap_2d_LIBRARIES}
|
||||
)
|
||||
target_link_libraries(rtabmap_costmap_plugins2
|
||||
${costmap_2d_LIBRARIES}
|
||||
)
|
||||
ENDIF(costmap_2d_FOUND)
|
||||
#IF(costmap_2d_FOUND)
|
||||
# MESSAGE(STATUS "WITH costmap_2d")
|
||||
# IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
|
||||
# ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
|
||||
# ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
|
||||
# include_directories(${costmap_2d_INCLUDE_DIRS})
|
||||
# add_library(rtabmap_costmap_plugins
|
||||
# src/costmap_2d/static_layer.cpp
|
||||
# )
|
||||
# add_library(rtabmap_costmap_plugins2
|
||||
# src/costmap_2d/voxel_layer.cpp
|
||||
# )
|
||||
# ament_target_dependencies(rtabmap_costmap_plugins
|
||||
# ${costmap_2d_LIBRARIES}
|
||||
# )
|
||||
# ament_target_dependencies(rtabmap_costmap_plugins2
|
||||
# ${costmap_2d_LIBRARIES}
|
||||
# )
|
||||
#ENDIF(costmap_2d_FOUND)
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
@@ -439,110 +540,118 @@ ENDIF(costmap_2d_FOUND)
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
install(PROGRAMS
|
||||
scripts/patrol.py
|
||||
scripts/objects_to_tags.py
|
||||
scripts/point_to_tf.py
|
||||
scripts/transform_to_tf.py
|
||||
scripts/yaml_to_camera_info.py
|
||||
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
)
|
||||
#install(PROGRAMS
|
||||
# scripts/patrol.py
|
||||
# scripts/objects_to_tags.py
|
||||
# scripts/point_to_tf.py
|
||||
# scripts/transform_to_tf.py
|
||||
# scripts/yaml_to_camera_info.py
|
||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
#)
|
||||
|
||||
## Mark executables and/or libraries for installation
|
||||
install(TARGETS
|
||||
rtabmap_sync
|
||||
rtabmap_ros
|
||||
rtabmap_plugins
|
||||
ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
|
||||
RUNTIME DESTINATION bin
|
||||
)
|
||||
install(TARGETS
|
||||
rtabmap
|
||||
rtabmap_rgbd_odometry
|
||||
rtabmap_icp_odometry
|
||||
rtabmap_rgbdicp_odometry
|
||||
# rtabmap_rgbdicp_odometry
|
||||
rtabmap_stereo_odometry
|
||||
rtabmap_map_assembler
|
||||
rtabmap_map_optimizer
|
||||
rtabmap_data_player
|
||||
rtabmap_odom_msg_to_tf
|
||||
# rtabmap_map_assembler
|
||||
# rtabmap_map_optimizer
|
||||
# rtabmap_data_player
|
||||
# rtabmap_odom_msg_to_tf
|
||||
rtabmap_pointcloud_to_depthimage
|
||||
rtabmap_camera
|
||||
rtabmap_point_cloud_xyz
|
||||
rtabmap_point_cloud_xyzrgb
|
||||
rtabmap_obstacles_detection
|
||||
# rtabmap_camera
|
||||
rtabmap_rgbd_sync
|
||||
rtabmap_stereo_sync
|
||||
rtabmap_rgbd_relay
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
DESTINATION lib/${PROJECT_NAME}
|
||||
)
|
||||
IF(RTABMAP_GUI)
|
||||
install(TARGETS
|
||||
rtabmapviz
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
DESTINATION lib/${PROJECT_NAME}
|
||||
)
|
||||
ENDIF(RTABMAP_GUI)
|
||||
|
||||
## Mark cpp header files for installation
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
DESTINATION include/${PROJECT_NAME}
|
||||
FILES_MATCHING PATTERN "*.h"
|
||||
PATTERN ".svn" EXCLUDE
|
||||
)
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
install(FILES
|
||||
launch/rtabmap.launch
|
||||
launch/rgbd_mapping.launch
|
||||
launch/stereo_mapping.launch
|
||||
launch/data_recorder.launch
|
||||
launch/rgbd_mapping_kinect2.launch
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
|
||||
)
|
||||
install(DIRECTORY
|
||||
launch/config
|
||||
launch/data
|
||||
launch/demo
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
|
||||
launch/ros2/turtlebot3_scan.launch.py
|
||||
launch/ros2/turtlebot3_rgbd.launch.py
|
||||
launch/ros2/turtlebot3_rgbd_sync.launch.py
|
||||
# launch/rtabmap.launch
|
||||
# launch/rgbd_mapping.launch
|
||||
# launch/stereo_mapping.launch
|
||||
# launch/data_recorder.launch
|
||||
# launch/rgbd_mapping_kinect2.launch
|
||||
DESTINATION share/${PROJECT_NAME}/launch
|
||||
)
|
||||
#install(DIRECTORY
|
||||
# launch/config
|
||||
# launch/data
|
||||
# launch/demo
|
||||
# DESTINATION share/${PROJECT_NAME}/launch
|
||||
#)
|
||||
|
||||
## install plugins/nodelets xml
|
||||
install(FILES
|
||||
nodelet_plugins.xml
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
#install(FILES
|
||||
# nodelet_plugins.xml
|
||||
# DESTINATION share/${PROJECT_NAME}
|
||||
#)
|
||||
IF(rviz_default_plugins_FOUND)
|
||||
install(
|
||||
TARGETS rtabmap_rviz_plugins
|
||||
#EXPORT rtabmap_rviz_plugins
|
||||
ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
|
||||
RUNTIME DESTINATION bin
|
||||
INCLUDES DESTINATION include
|
||||
)
|
||||
IF(rviz_FOUND)
|
||||
install(TARGETS
|
||||
rtabmap_rviz_plugins
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
)
|
||||
install(FILES
|
||||
rviz_plugins.xml
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
)
|
||||
ENDIF(rviz_FOUND)
|
||||
ENDIF(rviz_default_plugins_FOUND)
|
||||
|
||||
IF(costmap_2d_FOUND)
|
||||
install(TARGETS
|
||||
rtabmap_costmap_plugins
|
||||
rtabmap_costmap_plugins2
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
)
|
||||
install(FILES
|
||||
costmap_plugins.xml
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
)
|
||||
ENDIF(costmap_2d_FOUND)
|
||||
#IF(costmap_2d_FOUND)
|
||||
# install(TARGETS
|
||||
# rtabmap_costmap_plugins
|
||||
# rtabmap_costmap_plugins2
|
||||
# DESTINATION lib
|
||||
# )
|
||||
# install(FILES
|
||||
# costmap_plugins.xml
|
||||
# DESTINATION share/${PROJECT_NAME}
|
||||
# )
|
||||
#ENDIF(costmap_2d_FOUND)
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_rtabmap.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
# the following line skips the linter which checks for copyrights
|
||||
# uncomment the line when a copyright and license is not present in all source files
|
||||
#set(ament_cmake_copyright_FOUND TRUE)
|
||||
# the following line skips cpplint (only works in a git repo)
|
||||
# uncomment the line when this package is not in a git repo
|
||||
#set(ament_cmake_cpplint_FOUND TRUE)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
ament_package()
|
||||
|
||||
Reference in New Issue
Block a user