mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +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]>
101 lines
2.7 KiB
CMake
101 lines
2.7 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_costmap_plugins)
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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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find_package(ament_cmake_ros REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(nav2_costmap_2d REQUIRED)
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find_package(visualization_msgs REQUIRED)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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SET(Libraries
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pluginlib::pluginlib
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rclcpp::rclcpp
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nav2_costmap_2d::layers
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visualization_msgs::visualization_msgs
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)
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SET(AmentLibraries
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pluginlib
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rclcpp
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nav2_costmap_2d
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visualization_msgs
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)
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###########
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## Build ##
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###########
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add_library(rtabmap_costmap_plugins SHARED
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src/voxel_layer.cpp
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)
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target_include_directories(rtabmap_costmap_plugins
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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IF("$ENV{ROS_DISTRO}" STRLESS "jazzy")
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target_compile_definitions(rtabmap_costmap_plugins PRIVATE -DPRE_ROS_JAZZY)
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ENDIF()
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target_compile_definitions(rtabmap_costmap_plugins PRIVATE -DPRE_ROS_LYRICAL)
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ament_target_dependencies(rtabmap_costmap_plugins ${AmentLibraries})
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ELSE()
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target_link_libraries(rtabmap_costmap_plugins PRIVATE ${Libraries})
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ENDIF()
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(rtabmap_costmap_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")
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# prevent pluginlib from using boost
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target_compile_definitions(rtabmap_costmap_plugins PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
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add_executable(rtabmap_costmap_voxel_marker src/voxel_marker.cpp)
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IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(rtabmap_costmap_voxel_marker ${AmentLibraries})
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ELSE()
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target_link_libraries(rtabmap_costmap_voxel_marker PRIVATE ${Libraries})
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ENDIF()
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set_target_properties(rtabmap_costmap_voxel_marker PROPERTIES OUTPUT_NAME "voxel_marker")
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#############
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## Install ##
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#############
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ament_export_dependencies(${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_costmap_plugins) # To include downstream without targets
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install(TARGETS
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rtabmap_costmap_plugins
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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install(TARGETS
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rtabmap_costmap_voxel_marker
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DESTINATION lib/${PROJECT_NAME}
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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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ament_package()
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