mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
658 lines
23 KiB
CMake
658 lines
23 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_ros)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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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 dependencies
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find_package(ament_cmake REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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find_package(cv_bridge 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(std_srvs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(stereo_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(visualization_msgs REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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#find_package(eigen_conversions 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(pcl_ros REQUIRED)
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#find_package(dynamic_reconfigure REQUIRED)
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find_package(message_filters REQUIRED)
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find_package(class_loader REQUIRED)
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#find_package(rosgraph_msgs REQUIRED)
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find_package(image_geometry REQUIRED)
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#find_package(pluginlib REQUIRED)
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# Optional components
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#find_package(costmap_2d)
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#find_package(octomap_msgs)
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#find_package(apriltag_ros)
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#find_package(find_object_2d)
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## System dependencies are found with CMake's conventions
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find_package(RTABMap 0.19.5 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system) # dependencies from PCL
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find_package(PCL 1.7 REQUIRED COMPONENTS kdtree) #This crashes idl generation if all components are found?! see https://github.com/ros2/rosidl/issues/402#issuecomment-565586908
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#Qt stuff
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# If librtabmap_gui.so is found, rtabmapviz will be built
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# If rviz is found, plugins will be built
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IF(RTABMAP_GUI OR rviz_default_plugins_FOUND)
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IF(RTABMAP_QT_VERSION EQUAL 4)
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FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
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INCLUDE(${QT_USE_FILE})
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ELSE()
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IF(RTABMAP_GUI)
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FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui REQUIRED)
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ELSE()
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# For rviz plugins, look for Qt5 before Qt4
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FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
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IF(NOT Qt5_FOUND)
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FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
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INCLUDE(${QT_USE_FILE})
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ENDIF(NOT Qt5_FOUND)
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ENDIF()
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ENDIF()
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ENDIF(RTABMAP_GUI OR rviz_default_plugins_FOUND)
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find_package(rviz_common REQUIRED)
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find_package(rviz_rendering REQUIRED)
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find_package(rviz_default_plugins REQUIRED)
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#######################################
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## Declare ROS messages and services ##
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#######################################
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# declare the message files to generate code for
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set(msg_files
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"msg/Info.msg"
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"msg/KeyPoint.msg"
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"msg/MapData.msg"
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"msg/MapGraph.msg"
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"msg/NodeData.msg"
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"msg/Link.msg"
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"msg/OdomInfo.msg"
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"msg/Point2f.msg"
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"msg/Point3f.msg"
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"msg/Goal.msg"
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"msg/RGBDImage.msg"
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"msg/UserData.msg"
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"msg/GPS.msg"
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"msg/Path.msg"
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)
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# declare the service files to generate code for
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set(srv_files
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"srv/GetMap.srv"
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"srv/ListLabels.srv"
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"srv/PublishMap.srv"
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"srv/ResetPose.srv"
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"srv/SetGoal.srv"
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"srv/SetLabel.srv"
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"srv/GetPlan.srv"
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)
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## Generate messages and services
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rosidl_generate_interfaces(rtabmap_msgs
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${msg_files}
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${srv_files}
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DEPENDENCIES geometry_msgs std_msgs sensor_msgs std_srvs visualization_msgs image_geometry
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)
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ament_export_dependencies(rosidl_default_runtime)
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#add dynamic reconfigure api
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#generate_dynamic_reconfigure_options(cfg/Camera.cfg)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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#SET(optional_dependencies "")
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#IF(costmap_2d_FOUND)
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# SET(optional_dependencies ${optional_dependencies} costmap_2d)
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#ENDIF(costmap_2d_FOUND)
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#IF(octomap_msgs_FOUND)
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# SET(optional_dependencies ${optional_dependencies} octomap_msgs)
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#ENDIF(octomap_msgs_FOUND)
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#IF(rviz_default_plugins_FOUND)
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# SET(optional_dependencies ${optional_dependencies} rviz)
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#ENDIF(rviz_default_plugins_FOUND)
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#IF(find_object_2d_FOUND)
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# SET(optional_dependencies ${optional_dependencies} find_object_2d)
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#ENDIF(find_object_2d_FOUND)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${RTABMap_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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# libraries
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SET(Libraries
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pcl_conversions
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cv_bridge
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rclcpp
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rclcpp_components
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sensor_msgs
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std_msgs
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nav_msgs
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geometry_msgs
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image_transport
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tf2
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tf2_ros
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laser_geometry
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message_filters
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class_loader
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visualization_msgs
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image_geometry
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stereo_msgs
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)
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SET(rtabmap_sync_lib_src
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src/CommonDataSubscriber.cpp
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src/impl/CommonDataSubscriberDepth.cpp
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src/impl/CommonDataSubscriberStereo.cpp
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src/impl/CommonDataSubscriberRGB.cpp
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src/impl/CommonDataSubscriberRGBD.cpp
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src/impl/CommonDataSubscriberRGBD2.cpp
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src/impl/CommonDataSubscriberRGBD3.cpp
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src/impl/CommonDataSubscriberRGBD4.cpp
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src/impl/CommonDataSubscriberScan.cpp
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src/impl/CommonDataSubscriberOdom.cpp
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src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib
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)
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SET(rtabmap_ros_lib_src
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src/MsgConversion.cpp
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src/MapsManager.cpp
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src/OdometryROS.cpp
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# src/PluginInterface.cpp
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)
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SET(rtabmap_plugins_lib_src
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src/nodelets/rgbd_odometry.cpp
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src/nodelets/stereo_odometry.cpp
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# src/nodelets/rgbdicp_odometry.cpp
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src/nodelets/icp_odometry.cpp
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# src/nodelets/data_throttle.cpp
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# src/nodelets/stereo_throttle.cpp
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# src/nodelets/data_odom_sync.cpp
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src/nodelets/point_cloud_xyzrgb.cpp
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src/nodelets/point_cloud_xyz.cpp
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# src/nodelets/disparity_to_depth.cpp
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src/nodelets/pointcloud_to_depthimage.cpp
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src/nodelets/obstacles_detection.cpp
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# src/nodelets/obstacles_detection_old.cpp
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# src/nodelets/point_cloud_aggregator.cpp
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# src/nodelets/point_cloud_assembler.cpp
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# src/nodelets/undistort_depth.cpp
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# src/nodelets/imu_to_tf.cpp
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src/nodelets/rgbd_sync.cpp
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src/nodelets/stereo_sync.cpp
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src/nodelets/rgbd_relay.cpp
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)
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# If octomap is found, add definition
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#IF(octomap_msgs_FOUND)
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#MESSAGE(STATUS "WITH octomap_msgs")
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#include_directories(
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# ${octomap_msgs_INCLUDE_DIRS}
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#)
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#SET(Libraries
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# octomap_msgs
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# ${Libraries}
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#)
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#ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
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#ENDIF(octomap_msgs_FOUND)
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# If apriltag_ros is found, add definition
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#IF(apriltag_ros_FOUND)
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#MESSAGE(STATUS "WITH apriltag_ros")
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#include_directories(
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# ${apriltag_ros_INCLUDE_DIRS}
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#)
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#SET(Libraries
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# apriltag_ros
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# ${Libraries}
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#)
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#ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
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#ENDIF(apriltag_ros_FOUND)
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############################
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## Declare a cpp library
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############################
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add_library(rtabmap_ros SHARED ${rtabmap_ros_lib_src})
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add_library(rtabmap_sync SHARED ${rtabmap_sync_lib_src})
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add_library(rtabmap_plugins SHARED ${rtabmap_plugins_lib_src})
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ament_target_dependencies(rtabmap_ros ${Libraries})
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ament_target_dependencies(rtabmap_sync ${Libraries})
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ament_target_dependencies(rtabmap_plugins ${Libraries})
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target_link_libraries(rtabmap_ros ${RTABMap_LIBRARIES})
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target_link_libraries(rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES})
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target_link_libraries(rtabmap_plugins rtabmap_ros ${RTABMap_LIBRARIES})
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rosidl_target_interfaces(rtabmap_ros rtabmap_msgs "rosidl_typesupport_cpp")
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rosidl_target_interfaces(rtabmap_sync rtabmap_msgs "rosidl_typesupport_cpp")
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rosidl_target_interfaces(rtabmap_plugins rtabmap_msgs "rosidl_typesupport_cpp")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDOdometry")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoOdometry")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::ICPOdometry")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDRelay")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDSync")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoSync")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudXYZ")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudXYZRGB")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudToDepthImage")
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rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::ObstaclesDetection")
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rclcpp_components_register_nodes(rtabmap_sync "rtabmap_ros::CoreWrapper")
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add_executable(rtabmap src/CoreNode.cpp)
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ament_target_dependencies(rtabmap ${Libraries})
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target_link_libraries(rtabmap rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES})
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add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
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ament_target_dependencies(rtabmap_rgbd_odometry ${Libraries})
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target_link_libraries(rtabmap_rgbd_odometry rtabmap_plugins ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES})
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set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
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add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
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ament_target_dependencies(rtabmap_stereo_odometry ${Libraries})
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target_link_libraries(rtabmap_stereo_odometry rtabmap_plugins ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES})
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set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
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#add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
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#ament_target_dependencies(rtabmap_rgbdicp_odometry ${Libraries})
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#set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
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add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
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ament_target_dependencies(rtabmap_icp_odometry ${Libraries})
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target_link_libraries(rtabmap_icp_odometry rtabmap_plugins ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES})
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set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
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add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
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ament_target_dependencies(rtabmap_rgbd_sync ${Libraries})
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target_link_libraries(rtabmap_rgbd_sync rtabmap_plugins ${RTABMap_LIBRARIES})
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set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
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add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
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ament_target_dependencies(rtabmap_stereo_sync ${Libraries})
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target_link_libraries(rtabmap_stereo_sync rtabmap_plugins ${RTABMap_LIBRARIES})
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set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
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add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
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ament_target_dependencies(rtabmap_rgbd_relay ${Libraries})
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target_link_libraries(rtabmap_rgbd_relay rtabmap_plugins ${RTABMap_LIBRARIES})
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set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
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add_executable(rtabmap_point_cloud_xyz src/PointCloudXYZNode.cpp)
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ament_target_dependencies(rtabmap_point_cloud_xyz ${Libraries})
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target_link_libraries(rtabmap_point_cloud_xyz rtabmap_plugins ${RTABMap_LIBRARIES})
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set_target_properties(rtabmap_point_cloud_xyz PROPERTIES OUTPUT_NAME "point_cloud_xyz")
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add_executable(rtabmap_point_cloud_xyzrgb src/PointCloudXYZRGBNode.cpp)
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ament_target_dependencies(rtabmap_point_cloud_xyzrgb ${Libraries})
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target_link_libraries(rtabmap_point_cloud_xyzrgb rtabmap_plugins ${RTABMap_LIBRARIES})
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set_target_properties(rtabmap_point_cloud_xyzrgb PROPERTIES OUTPUT_NAME "point_cloud_xyzrgb")
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add_executable(rtabmap_obstacles_detection src/ObstaclesDetectionNode.cpp)
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ament_target_dependencies(rtabmap_obstacles_detection ${Libraries})
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target_link_libraries(rtabmap_obstacles_detection rtabmap_plugins ${RTABMap_LIBRARIES})
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set_target_properties(rtabmap_obstacles_detection PROPERTIES OUTPUT_NAME "obstacles_detection")
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#add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
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#ament_target_dependencies(rtabmap_map_optimizer rtabmap_ros)
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#set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
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#add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
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#ament_target_dependencies(rtabmap_map_assembler rtabmap_ros)
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#set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
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#add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
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#ament_target_dependencies(rtabmap_imu_to_tf ${Libraries})
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#set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
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#add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
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#ament_target_dependencies(rtabmap_wifi_signal_pub rtabmap_ros)
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#set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
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#add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
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#ament_target_dependencies(rtabmap_wifi_signal_sub rtabmap_ros)
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#set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
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# If find_object_2d is found, add save objects example
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#IF(find_object_2d_FOUND)
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# MESSAGE(STATUS "WITH find_object_2d")
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# include_directories(${find_object_2d_INCLUDE_DIRS})
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# add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
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# ament_target_dependencies(rtabmap_save_objects_example ${Libraries} rtabmap_ros ${find_object_2d_LIBRARIES})
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# set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
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#ENDIF(find_object_2d_FOUND)
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#add_executable(rtabmap_camera src/CameraNode.cpp)
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#add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
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#ament_target_dependencies(rtabmap_camera ${Libraries})
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#set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
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#add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp)
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#ament_target_dependencies(rtabmap_stereo_camera rtabmap_ros)
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#set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
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IF(RTABMAP_GUI)
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add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
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ament_target_dependencies(rtabmapviz ${Libraries})
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target_link_libraries(rtabmapviz rtabmap_sync rtabmap_ros ${RTABMap_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LBRARIES} ${QT_LIBRARIES})
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IF(Qt5_FOUND)
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QT5_USE_MODULES(rtabmapviz Widgets Core Gui)
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ENDIF()
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ELSE()
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MESSAGE(WARNING "Found RTAB-Map built without its GUI library. Node rtabmapviz will not be built!")
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ENDIF()
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#add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
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#ament_target_dependencies(rtabmap_data_player rtabmap_ros)
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#set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
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#add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
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#ament_target_dependencies(rtabmap_odom_msg_to_tf rtabmap_ros)
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#set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
|
|
|
|
add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
|
|
ament_target_dependencies(rtabmap_pointcloud_to_depthimage ${Libraries})
|
|
target_link_libraries(rtabmap_pointcloud_to_depthimage rtabmap_plugins ${RTABMap_LIBRARIES})
|
|
set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
|
|
|
|
# Only required when using messages built from the same package
|
|
# https://index.ros.org/doc/ros2/Tutorials/Rosidl-Tutorial/
|
|
get_default_rmw_implementation(rmw_implementation)
|
|
find_package("${rmw_implementation}" REQUIRED)
|
|
get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
|
|
|
|
foreach(typesupport_impl ${typesupport_impls})
|
|
rosidl_target_interfaces(rtabmap_rgbd_odometry
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmap_stereo_odometry
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmap_icp_odometry
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmap_rgbd_relay
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmap_rgbd_sync
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmap_stereo_sync
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmap_pointcloud_to_depthimage
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmap_point_cloud_xyzrgb
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmap
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
rosidl_target_interfaces(rtabmapviz
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
endforeach()
|
|
|
|
# If rviz is found, add plugins
|
|
IF(rviz_default_plugins_FOUND)
|
|
|
|
## We also use Ogre for rviz plugins
|
|
#include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
|
|
#pkg_check_modules(OGRE OGRE)
|
|
include_directories( ${OGRE_INCLUDE_DIRS} )
|
|
#link_directories( ${OGRE_LIBRARY_DIRS} )
|
|
|
|
MESSAGE(STATUS "WITH rviz")
|
|
|
|
## RVIZ plugin
|
|
IF(QT4_FOUND)
|
|
qt4_wrap_cpp(MOC_FILES
|
|
src/rviz/MapCloudDisplay.h
|
|
src/rviz/MapGraphDisplay.h
|
|
src/rviz/InfoDisplay.h
|
|
#src/rviz/OrbitOrientedViewController.h
|
|
)
|
|
ELSE()
|
|
qt5_wrap_cpp(MOC_FILES
|
|
src/rviz/MapCloudDisplay.h
|
|
src/rviz/MapGraphDisplay.h
|
|
src/rviz/InfoDisplay.h
|
|
#src/rviz/OrbitOrientedViewController.h
|
|
)
|
|
ENDIF()
|
|
|
|
# tf:message_filters, mixing boost and Qt signals
|
|
set_property(
|
|
SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
|
|
PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
|
|
)
|
|
add_library(rtabmap_rviz_plugins SHARED
|
|
src/rviz/MapCloudDisplay.cpp
|
|
src/rviz/MapGraphDisplay.cpp
|
|
src/rviz/InfoDisplay.cpp
|
|
#src/rviz/OrbitOrientedViewController.cpp
|
|
${MOC_FILES}
|
|
)
|
|
|
|
ament_target_dependencies(rtabmap_rviz_plugins
|
|
${Libraries}
|
|
rviz_common
|
|
rviz_rendering
|
|
rviz_default_plugins
|
|
)
|
|
#ament_export_interfaces(rtabmap_rviz_plugins HAS_LIBRARY_TARGET)
|
|
target_link_libraries(rtabmap_rviz_plugins rtabmap_ros)
|
|
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
|
|
rtabmap_msgs ${typesupport_impl}
|
|
)
|
|
endforeach()
|
|
|
|
# Causes the visibility macros to use dllexport rather than dllimport,
|
|
# which is appropriate when building the dll but not consuming it.
|
|
target_compile_definitions(rtabmap_rviz_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")
|
|
|
|
# prevent pluginlib from using boost
|
|
target_compile_definitions(rtabmap_rviz_plugins PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
|
|
|
|
pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
|
|
|
|
ENDIF(rviz_default_plugins_FOUND)
|
|
|
|
# If costmap_2d is found, add the plugins
|
|
#IF(costmap_2d_FOUND)
|
|
# MESSAGE(STATUS "WITH costmap_2d")
|
|
# IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
|
|
# ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
|
|
# ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
|
|
# include_directories(${costmap_2d_INCLUDE_DIRS})
|
|
# add_library(rtabmap_costmap_plugins
|
|
# src/costmap_2d/static_layer.cpp
|
|
# )
|
|
# add_library(rtabmap_costmap_plugins2
|
|
# src/costmap_2d/voxel_layer.cpp
|
|
# )
|
|
# ament_target_dependencies(rtabmap_costmap_plugins
|
|
# ${costmap_2d_LIBRARIES}
|
|
# )
|
|
# ament_target_dependencies(rtabmap_costmap_plugins2
|
|
# ${costmap_2d_LIBRARIES}
|
|
# )
|
|
#ENDIF(costmap_2d_FOUND)
|
|
|
|
#############
|
|
## Install ##
|
|
#############
|
|
|
|
# all install targets should use catkin DESTINATION variables
|
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
|
|
|
## Mark executable scripts (Python etc.) for installation
|
|
## in contrast to setup.py, you can choose the destination
|
|
#install(PROGRAMS
|
|
# scripts/patrol.py
|
|
# scripts/objects_to_tags.py
|
|
# scripts/point_to_tf.py
|
|
# scripts/transform_to_tf.py
|
|
# scripts/yaml_to_camera_info.py
|
|
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
#)
|
|
|
|
## Mark executables and/or libraries for installation
|
|
install(TARGETS
|
|
rtabmap_sync
|
|
rtabmap_ros
|
|
rtabmap_plugins
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION bin
|
|
)
|
|
install(TARGETS
|
|
rtabmap
|
|
rtabmap_rgbd_odometry
|
|
rtabmap_icp_odometry
|
|
# rtabmap_rgbdicp_odometry
|
|
rtabmap_stereo_odometry
|
|
# rtabmap_map_assembler
|
|
# rtabmap_map_optimizer
|
|
# rtabmap_data_player
|
|
# rtabmap_odom_msg_to_tf
|
|
rtabmap_pointcloud_to_depthimage
|
|
rtabmap_point_cloud_xyz
|
|
rtabmap_point_cloud_xyzrgb
|
|
rtabmap_obstacles_detection
|
|
# rtabmap_camera
|
|
rtabmap_rgbd_sync
|
|
rtabmap_stereo_sync
|
|
rtabmap_rgbd_relay
|
|
DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
IF(RTABMAP_GUI)
|
|
install(TARGETS
|
|
rtabmapviz
|
|
DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
ENDIF(RTABMAP_GUI)
|
|
|
|
## Mark cpp header files for installation
|
|
install(DIRECTORY include/${PROJECT_NAME}/
|
|
DESTINATION include/${PROJECT_NAME}
|
|
FILES_MATCHING PATTERN "*.h"
|
|
PATTERN ".svn" EXCLUDE
|
|
)
|
|
|
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
|
install(FILES
|
|
launch/ros2/turtlebot3_scan.launch.py
|
|
launch/ros2/turtlebot3_rgbd.launch.py
|
|
launch/ros2/turtlebot3_rgbd_sync.launch.py
|
|
# launch/rtabmap.launch
|
|
# launch/rgbd_mapping.launch
|
|
# launch/stereo_mapping.launch
|
|
# launch/data_recorder.launch
|
|
# launch/rgbd_mapping_kinect2.launch
|
|
DESTINATION share/${PROJECT_NAME}/launch
|
|
)
|
|
#install(DIRECTORY
|
|
# launch/config
|
|
# launch/data
|
|
# launch/demo
|
|
# DESTINATION share/${PROJECT_NAME}/launch
|
|
#)
|
|
|
|
## install plugins/nodelets xml
|
|
#install(FILES
|
|
# nodelet_plugins.xml
|
|
# DESTINATION share/${PROJECT_NAME}
|
|
#)
|
|
IF(rviz_default_plugins_FOUND)
|
|
install(
|
|
TARGETS rtabmap_rviz_plugins
|
|
#EXPORT rtabmap_rviz_plugins
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION bin
|
|
INCLUDES DESTINATION include
|
|
)
|
|
ENDIF(rviz_default_plugins_FOUND)
|
|
|
|
#IF(costmap_2d_FOUND)
|
|
# install(TARGETS
|
|
# rtabmap_costmap_plugins
|
|
# rtabmap_costmap_plugins2
|
|
# DESTINATION lib
|
|
# )
|
|
# install(FILES
|
|
# costmap_plugins.xml
|
|
# DESTINATION share/${PROJECT_NAME}
|
|
# )
|
|
#ENDIF(costmap_2d_FOUND)
|
|
|
|
#############
|
|
## Testing ##
|
|
#############
|
|
|
|
if(BUILD_TESTING)
|
|
find_package(ament_lint_auto REQUIRED)
|
|
# the following line skips the linter which checks for copyrights
|
|
# uncomment the line when a copyright and license is not present in all source files
|
|
#set(ament_cmake_copyright_FOUND TRUE)
|
|
# the following line skips cpplint (only works in a git repo)
|
|
# uncomment the line when this package is not in a git repo
|
|
#set(ament_cmake_cpplint_FOUND TRUE)
|
|
ament_lint_auto_find_test_dependencies()
|
|
endif()
|
|
|
|
ament_package()
|