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Fixed rtabmap_ros_msgs__rosidl_typesupport_fastrtps_c not found error (#662)

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matlabbe
2021-10-25 19:14:00 -04:00
parent 4ba60c8aff
commit f54404812f
1 changed files with 35 additions and 36 deletions
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CMakeLists.txt
+35 -36
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@@ -159,11 +159,10 @@ ENDIF(RTABMAP_GUI OR rviz_default_plugins_FOUND)
) )
## Generate messages and services ## Generate messages and services
rosidl_generate_interfaces(${PROJECT_NAME}_msgs rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files} ${msg_files}
${srv_files} ${srv_files}
DEPENDENCIES geometry_msgs std_msgs sensor_msgs std_srvs visualization_msgs image_geometry DEPENDENCIES geometry_msgs std_msgs sensor_msgs std_srvs visualization_msgs image_geometry
LIBRARY_NAME ${PROJECT_NAME}
) )
ament_export_dependencies(rosidl_default_runtime) ament_export_dependencies(rosidl_default_runtime)
@@ -325,21 +324,21 @@ ENDIF(move_base_msgs_FOUND)
############################ ############################
## Declare a cpp library ## 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_sync SHARED ${rtabmap_sync_lib_src})
add_library(rtabmap_plugins SHARED ${rtabmap_plugins_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_sync ${Libraries})
ament_target_dependencies(rtabmap_plugins ${Libraries}) ament_target_dependencies(rtabmap_plugins ${Libraries})
target_link_libraries(rtabmap_ros ${RTABMap_LIBRARIES}) target_link_libraries(rtabmap_common ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES}) target_link_libraries(rtabmap_sync rtabmap_common ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_plugins rtabmap_ros ${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_common ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_sync ${PROJECT_NAME}_msgs "rosidl_typesupport_cpp") rosidl_target_interfaces(rtabmap_sync ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_plugins ${PROJECT_NAME}_msgs "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::RGBDOdometry")
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoOdometry") 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) add_executable(rtabmap src/CoreNode.cpp)
ament_target_dependencies(rtabmap ${Libraries}) 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) add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
ament_target_dependencies(rtabmap_rgbd_odometry ${Libraries}) 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") set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
#add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp) #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") #set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
#add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp) #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") #set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
#add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp) #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") #set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
#add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp) #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") #set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
#add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp) #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") #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 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") # MESSAGE(STATUS "WITH find_object_2d")
# include_directories(${find_object_2d_INCLUDE_DIRS}) # include_directories(${find_object_2d_INCLUDE_DIRS})
# add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp) # 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") # set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
#ENDIF(find_object_2d_FOUND) #ENDIF(find_object_2d_FOUND)
#add_executable(rtabmap_external_loop_detectionexample src/ExternalLoopDetectionExample.cpp) #add_executable(rtabmap_external_loop_detectionexample src/ExternalLoopDetectionExample.cpp)
#add_dependencies(rtabmap_external_loop_detectionexample ${${PROJECT_NAME}_EXPORTED_TARGETS}) #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") #set_target_properties(rtabmap_external_loop_detectionexample PROPERTIES OUTPUT_NAME "external_loop_detection_example")
#add_executable(rtabmap_camera src/CameraNode.cpp) #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") #set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
#add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp) #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") #set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
IF(RTABMAP_GUI) IF(RTABMAP_GUI)
add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp) add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
ament_target_dependencies(rtabmapviz ${Libraries}) 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} ${QT_LIBRARIES})
IF(Qt5_FOUND) IF(Qt5_FOUND)
QT5_USE_MODULES(rtabmapviz Widgets Core Gui) QT5_USE_MODULES(rtabmapviz Widgets Core Gui)
ENDIF() ENDIF()
@@ -483,11 +482,11 @@ ELSE()
ENDIF() ENDIF()
#add_executable(rtabmap_data_player src/DbPlayerNode.cpp) #add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
#ament_target_dependencies(rtabmap_data_player rtabmap_ros) #ament_target_dependencies(rtabmap_data_player rtabmap_common)
#set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player") #set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
#add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp) #add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
#ament_target_dependencies(rtabmap_odom_msg_to_tf rtabmap_ros) #ament_target_dependencies(rtabmap_odom_msg_to_tf rtabmap_common)
#set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf") #set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp) add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
@@ -503,41 +502,41 @@ get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
foreach(typesupport_impl ${typesupport_impls}) foreach(typesupport_impl ${typesupport_impls})
rosidl_target_interfaces(rtabmap_rgbd_odometry rosidl_target_interfaces(rtabmap_rgbd_odometry
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_stereo_odometry rosidl_target_interfaces(rtabmap_stereo_odometry
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_icp_odometry rosidl_target_interfaces(rtabmap_icp_odometry
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_rgbd_relay rosidl_target_interfaces(rtabmap_rgbd_relay
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_rgbd_sync rosidl_target_interfaces(rtabmap_rgbd_sync
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_rgbdx_sync rosidl_target_interfaces(rtabmap_rgbdx_sync
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_rgb_sync rosidl_target_interfaces(rtabmap_rgb_sync
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_stereo_sync rosidl_target_interfaces(rtabmap_stereo_sync
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_pointcloud_to_depthimage rosidl_target_interfaces(rtabmap_pointcloud_to_depthimage
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap_point_cloud_xyzrgb rosidl_target_interfaces(rtabmap_point_cloud_xyzrgb
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
rosidl_target_interfaces(rtabmap rosidl_target_interfaces(rtabmap
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
IF(RTABMAP_GUI) IF(RTABMAP_GUI)
rosidl_target_interfaces(rtabmapviz rosidl_target_interfaces(rtabmapviz
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
ENDIF() ENDIF()
endforeach() endforeach()
@@ -590,14 +589,14 @@ IF(rviz_default_plugins_FOUND)
rviz_default_plugins rviz_default_plugins
) )
#ament_export_interfaces(rtabmap_rviz_plugins HAS_LIBRARY_TARGET) #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) IF(Qt5_FOUND)
QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui) QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
ENDIF(Qt5_FOUND) ENDIF(Qt5_FOUND)
foreach(typesupport_impl ${typesupport_impls}) foreach(typesupport_impl ${typesupport_impls})
rosidl_target_interfaces(rtabmap_rviz_plugins rosidl_target_interfaces(rtabmap_rviz_plugins
${PROJECT_NAME}_msgs ${typesupport_impl} ${PROJECT_NAME} ${typesupport_impl}
) )
endforeach() endforeach()
@@ -659,7 +658,7 @@ ENDIF(rviz_default_plugins_FOUND)
## Mark executables and/or libraries for installation ## Mark executables and/or libraries for installation
install(TARGETS install(TARGETS
rtabmap_sync rtabmap_sync
rtabmap_ros rtabmap_common
rtabmap_plugins rtabmap_plugins
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib LIBRARY DESTINATION lib