From f54404812ffbf4b061726789b4f878cc573fa148 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 25 Oct 2021 19:14:00 -0400 Subject: [PATCH] Fixed rtabmap_ros_msgs__rosidl_typesupport_fastrtps_c not found error (#662) --- CMakeLists.txt | 71 +++++++++++++++++++++++++------------------------- 1 file changed, 35 insertions(+), 36 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9158a8a6..4bd6fb9c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -159,11 +159,10 @@ ENDIF(RTABMAP_GUI OR rviz_default_plugins_FOUND) ) ## Generate messages and services - rosidl_generate_interfaces(${PROJECT_NAME}_msgs + rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} ${srv_files} DEPENDENCIES geometry_msgs std_msgs sensor_msgs std_srvs visualization_msgs image_geometry - LIBRARY_NAME ${PROJECT_NAME} ) ament_export_dependencies(rosidl_default_runtime) @@ -325,21 +324,21 @@ ENDIF(move_base_msgs_FOUND) ############################ ## Declare a cpp library ############################ -add_library(rtabmap_ros SHARED ${rtabmap_ros_lib_src}) +add_library(rtabmap_common SHARED ${rtabmap_ros_lib_src}) add_library(rtabmap_sync SHARED ${rtabmap_sync_lib_src}) add_library(rtabmap_plugins SHARED ${rtabmap_plugins_lib_src}) -ament_target_dependencies(rtabmap_ros ${Libraries}) +ament_target_dependencies(rtabmap_common ${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}) +target_link_libraries(rtabmap_common ${RTABMap_LIBRARIES}) +target_link_libraries(rtabmap_sync rtabmap_common ${RTABMap_LIBRARIES}) +target_link_libraries(rtabmap_plugins rtabmap_common ${RTABMap_LIBRARIES}) -rosidl_target_interfaces(rtabmap_ros ${PROJECT_NAME}_msgs "rosidl_typesupport_cpp") -rosidl_target_interfaces(rtabmap_sync ${PROJECT_NAME}_msgs "rosidl_typesupport_cpp") -rosidl_target_interfaces(rtabmap_plugins ${PROJECT_NAME}_msgs "rosidl_typesupport_cpp") +rosidl_target_interfaces(rtabmap_common ${PROJECT_NAME} "rosidl_typesupport_cpp") +rosidl_target_interfaces(rtabmap_sync ${PROJECT_NAME} "rosidl_typesupport_cpp") +rosidl_target_interfaces(rtabmap_plugins ${PROJECT_NAME} "rosidl_typesupport_cpp") rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDOdometry") rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoOdometry") @@ -358,7 +357,7 @@ rclcpp_components_register_nodes(rtabmap_sync "rtabmap_ros::CoreWrapper") add_executable(rtabmap src/CoreNode.cpp) ament_target_dependencies(rtabmap ${Libraries}) -target_link_libraries(rtabmap rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES}) +target_link_libraries(rtabmap rtabmap_sync rtabmap_common ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES}) add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp) ament_target_dependencies(rtabmap_rgbd_odometry ${Libraries}) @@ -430,11 +429,11 @@ target_link_libraries(rtabmap_point_cloud_assembler rtabmap_plugins ${RTABMap_LI set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler") #add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp) -#ament_target_dependencies(rtabmap_map_optimizer rtabmap_ros) +#ament_target_dependencies(rtabmap_map_optimizer rtabmap_common) #set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer") #add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp) -#ament_target_dependencies(rtabmap_map_assembler rtabmap_ros) +#ament_target_dependencies(rtabmap_map_assembler rtabmap_common) #set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler") #add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp) @@ -442,10 +441,10 @@ set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "poin #set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf") #add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp) -#ament_target_dependencies(rtabmap_wifi_signal_pub rtabmap_ros) +#ament_target_dependencies(rtabmap_wifi_signal_pub rtabmap_common) #set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub") #add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp) -#ament_target_dependencies(rtabmap_wifi_signal_sub rtabmap_ros) +#ament_target_dependencies(rtabmap_wifi_signal_sub rtabmap_common) #set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub") # If find_object_2d is found, add save objects example @@ -453,13 +452,13 @@ set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "poin # MESSAGE(STATUS "WITH find_object_2d") # include_directories(${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}) +# ament_target_dependencies(rtabmap_save_objects_example ${Libraries} rtabmap_common ${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_external_loop_detectionexample src/ExternalLoopDetectionExample.cpp) #add_dependencies(rtabmap_external_loop_detectionexample ${${PROJECT_NAME}_EXPORTED_TARGETS}) -#ament_target_dependencies(rtabmap_external_loop_detectionexample ${Libraries} rtabmap_ros) +#ament_target_dependencies(rtabmap_external_loop_detectionexample ${Libraries} rtabmap_common) #set_target_properties(rtabmap_external_loop_detectionexample PROPERTIES OUTPUT_NAME "external_loop_detection_example") #add_executable(rtabmap_camera src/CameraNode.cpp) @@ -468,13 +467,13 @@ set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "poin #set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera") #add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp) -#ament_target_dependencies(rtabmap_stereo_camera rtabmap_ros) +#ament_target_dependencies(rtabmap_stereo_camera rtabmap_common) #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) ament_target_dependencies(rtabmapviz ${Libraries}) - target_link_libraries(rtabmapviz rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES} ${QT_LIBRARIES}) + target_link_libraries(rtabmapviz rtabmap_sync rtabmap_common ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES} ${QT_LIBRARIES}) IF(Qt5_FOUND) QT5_USE_MODULES(rtabmapviz Widgets Core Gui) ENDIF() @@ -483,11 +482,11 @@ ELSE() ENDIF() #add_executable(rtabmap_data_player src/DbPlayerNode.cpp) -#ament_target_dependencies(rtabmap_data_player rtabmap_ros) +#ament_target_dependencies(rtabmap_data_player rtabmap_common) #set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player") #add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp) -#ament_target_dependencies(rtabmap_odom_msg_to_tf rtabmap_ros) +#ament_target_dependencies(rtabmap_odom_msg_to_tf rtabmap_common) #set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf") add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp) @@ -503,41 +502,41 @@ get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp") foreach(typesupport_impl ${typesupport_impls}) rosidl_target_interfaces(rtabmap_rgbd_odometry - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_stereo_odometry - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_icp_odometry - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_rgbd_relay - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_rgbd_sync - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_rgbdx_sync - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_rgb_sync - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_stereo_sync - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_pointcloud_to_depthimage - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap_point_cloud_xyzrgb - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) rosidl_target_interfaces(rtabmap - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) IF(RTABMAP_GUI) rosidl_target_interfaces(rtabmapviz - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) ENDIF() endforeach() @@ -590,14 +589,14 @@ IF(rviz_default_plugins_FOUND) rviz_default_plugins ) #ament_export_interfaces(rtabmap_rviz_plugins HAS_LIBRARY_TARGET) - target_link_libraries(rtabmap_rviz_plugins rtabmap_ros) + target_link_libraries(rtabmap_rviz_plugins rtabmap_common) IF(Qt5_FOUND) QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui) ENDIF(Qt5_FOUND) foreach(typesupport_impl ${typesupport_impls}) rosidl_target_interfaces(rtabmap_rviz_plugins - ${PROJECT_NAME}_msgs ${typesupport_impl} + ${PROJECT_NAME} ${typesupport_impl} ) endforeach() @@ -659,7 +658,7 @@ ENDIF(rviz_default_plugins_FOUND) ## Mark executables and/or libraries for installation install(TARGETS rtabmap_sync - rtabmap_ros + rtabmap_common rtabmap_plugins ARCHIVE DESTINATION lib LIBRARY DESTINATION lib