i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-12 04:29:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Removing ament_target_dependencies

Browse Source
This commit is contained in:
matlabbe
2026-05-06 17:09:02 +00:00
parent 8871f934b5
commit e7b90c6c95
10 changed files with 246 additions and 158 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_odom/CMakeLists.txt
+33 -25
View File
@@ -41,19 +41,18 @@ include_directories(
)
SET(Libraries
cv_bridge
image_geometry
laser_geometry
message_filters
nav_msgs
pcl_conversions
pcl_ros
rclcpp
sensor_msgs
rtabmap_conversions
rtabmap_msgs
rtabmap_util
rtabmap_sync
cv_bridge::cv_bridge
image_geometry::image_geometry
laser_geometry::laser_geometry
message_filters::message_filters
nav_msgs::nav_msgs
pcl_conversions::pcl_conversions
rclcpp::rclcpp
sensor_msgs::sensor_msgs
rtabmap_conversions::rtabmap_conversions
rtabmap_msgs::rtabmap_msgs
rtabmap_util::rtabmap_util_plugins
rtabmap_sync::rtabmap_sync
)
###########
@@ -81,10 +80,8 @@ 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)
target_link_libraries(rtabmap_odom PRIVATE ${Libraries})
target_link_libraries(rtabmap_odom_plugins PUBLIC ${Libraries} rtabmap_odom)
rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::RGBDOdometry")
rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::StereoOdometry")
@@ -92,25 +89,36 @@ 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 ${Libraries} 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 ${Libraries} 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 ${Libraries} rtabmap_odom_plugins)
set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
#############
## Install ##
#############
ament_export_dependencies(${Libraries})
SET(Depends
cv_bridge
image_geometry
laser_geometry
message_filters
nav_msgs
pcl_conversions
pcl_ros
rclcpp
sensor_msgs
rtabmap_conversions
rtabmap_msgs
rtabmap_util
rtabmap_sync
)
ament_export_dependencies(${Depends})
ament_export_include_directories(include)
ament_export_targets(${PROJECT_NAME}) # To include downstream with targets
ament_export_libraries(rtabmap_odom rtabmap_odom_plugins) # To include downstream without targets