mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
matlabbeandmathieu86
11edc01d6a
* rtabmap_odom tests and doc * opengv note * added ci checks or humble-latest flaky dep cmake errors * Added real data tests for rgbd_odom and stereo_odom * added real data for icp_odometry's deskewing test * fixing json cmake error on lyrical/rolling * test 2d icp odom deskewing branch * first review of existing OdometryROS tests * testing with imu used as guess * tested imu arrivals sync * Fixed odom reset on right pose when guess frame id is used * fixing header errors in ci >=lyrical * Added support for input rgbd_image topic with features for odom, added multicam rgbd_odometry test * Added stereo odom support for features-only frames. Added multicam stereo tests. * forcing latest rtabmap version * updated OdometryROS API * ci: dont build non-latest docker in pull requests * splitting docker jobs * doc edit * Making publish_null_when_lost:=false continous when guess is provided (using guess covariance when we cannot register yet) * updated stereo doc * ficing rolling ci (rviz Ogre header) * Added test coverage of alll rgbd_image callbacks * fixing rolling ci * making docker ci build/run the tests on pull requests * fixing ros2 ci testing * improved sync callback coverage * improving stereo_odometry test coverage * improved icp_odometry test coverage * lyrical voxel_grid ptr error * make multicam tests working as well without opengv * removing deps of missing packages on rolling * PCL empty cloud conversion compiler errors fix * fixing icp_odometry test failure on ci witohut libpointmatcher * fixing nav2 costmap plugin build on lyrical * joining thread when exiting * updating icp test to work the same on pcl 1.15 (lyrical) * Fix parallel tests seg fault --------- Co-authored-by: mathieu86 <[email protected]>
144 lines
3.6 KiB
CMake
144 lines
3.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_conversions)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
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# issues #1285 #1288
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find_library(
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builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
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PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
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)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(image_geometry REQUIRED)
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find_package(laser_geometry REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rtabmap_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(RTABMap 0.23.12 REQUIRED)
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# libraries
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SET(Libraries
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image_geometry::image_geometry
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laser_geometry::laser_geometry
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pcl_conversions::pcl_conversions
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std_msgs::std_msgs
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tf2::tf2
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tf2_eigen::tf2_eigen
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tf2_geometry_msgs::tf2_geometry_msgs
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)
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SET(PublicLibraries
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sensor_msgs::sensor_msgs
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geometry_msgs::geometry_msgs
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rtabmap_msgs::rtabmap_msgs
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rclcpp::rclcpp
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rtabmap::core
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cv_bridge::cv_bridge
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tf2_ros::tf2_ros
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)
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SET(AmentLibraries
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cv_bridge
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geometry_msgs
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image_geometry
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laser_geometry
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pcl_conversions
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rclcpp
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rtabmap_msgs
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sensor_msgs
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std_msgs
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tf2
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tf2_eigen
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tf2_geometry_msgs
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RTABMap
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)
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if("$ENV{ROS_DISTRO}" STRLESS "humble")
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add_definitions(-DPRE_ROS_HUMBLE)
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endif()
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IF("$ENV{ROS_DISTRO}" STRLESS "iron")
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add_definitions(-DPRE_ROS_IRON)
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ENDIF()
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IF("$ENV{ROS_DISTRO}" STRLESS "kilted")
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add_definitions(-DPRE_ROS_KILTED)
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ENDIF()
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###########
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## Build ##
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###########
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add_library(rtabmap_conversions SHARED src/MsgConversion.cpp)
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target_include_directories(rtabmap_conversions
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(rtabmap_conversions ${AmentLibraries})
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ELSE()
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target_link_libraries(rtabmap_conversions PRIVATE ${Libraries} PUBLIC ${PublicLibraries})
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ENDIF()
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IF("$ENV{ROS_DISTRO}" STRLESS "iron")
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target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON -DPRE_ROS_KILTED)
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ELSEIF("$ENV{ROS_DISTRO}" STRLESS "kilted")
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target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_KILTED)
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ENDIF()
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#############
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## Install ##
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#############
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ament_export_dependencies(${AmentLibraries})
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ament_export_include_directories(include)
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ament_export_targets(${PROJECT_NAME}) # To include downstream with targets
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ament_export_libraries(rtabmap_conversions) # To include downstream without targets
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install(TARGETS
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rtabmap_conversions
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(DIRECTORY include/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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)
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#############
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## Testing ##
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#############
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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ament_add_gtest(test_msg_conversion test/test_msg_conversion.cpp)
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if(TARGET test_msg_conversion)
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target_link_libraries(test_msg_conversion rtabmap_conversions)
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(test_msg_conversion ${AmentLibraries})
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else()
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target_link_libraries(test_msg_conversion ${Libraries} ${PublicLibraries})
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endif()
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endif()
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endif()
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ament_package()
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