mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
2eef2b3231
* Lyrical support * removed dep not available on lyrical * updated docker lyrcical * making cmake less verbose, disabled tests on rtabmap_python * cleanup not used tests in rtabmap_python * addressing some lyrical deprecated warnings * cancel pr jobs on recommit * small refactor * disabled lyrical bin docker * restored python test and fixed error * trigger ci * fixing docker lyrical * disabled rtabmap_ros lyrical * pytest * fixing packages-skip * bump 0.23.7
304 lines
10 KiB
CMake
304 lines
10 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_util)
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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(RTABMap REQUIRED)
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MESSAGE(STATUS "RTABMap=${RTABMap_TARGETS}")
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find_package(ament_cmake REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(stereo_msgs REQUIRED)
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find_package(nav_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_geometry_msgs REQUIRED)
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find_package(tf2_ros 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(message_filters REQUIRED)
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find_package(rtabmap_msgs REQUIRED)
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find_package(rtabmap_conversions REQUIRED)
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find_package(rtabmap_sync REQUIRED)
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find_package(RTABMap COMPONENTS gui REQUIRED)
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# Optional components
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find_package(octomap_msgs)
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find_package(grid_map_ros)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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# libraries
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SET(Libraries
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cv_bridge::cv_bridge
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image_transport::image_transport
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rclcpp_components::component
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stereo_msgs::stereo_msgs
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std_msgs::std_msgs
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tf2::tf2
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tf2_geometry_msgs::tf2_geometry_msgs
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tf2_ros::tf2_ros
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laser_geometry::laser_geometry
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image_geometry::image_geometry
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message_filters::message_filters
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rtabmap_msgs::rtabmap_msgs
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rtabmap_sync::rtabmap_sync
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)
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SET(PublicLibraries
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rclcpp::rclcpp
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nav_msgs::nav_msgs
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pcl_conversions::pcl_conversions
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sensor_msgs::sensor_msgs
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rtabmap_conversions::rtabmap_conversions
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)
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SET(AmentLibraries
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cv_bridge
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image_transport
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rclcpp
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rclcpp_components
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sensor_msgs
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stereo_msgs
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nav_msgs
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std_msgs
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tf2
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tf2_geometry_msgs
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tf2_ros
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laser_geometry
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pcl_conversions
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pcl_ros
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message_filters
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rtabmap_msgs
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rtabmap_conversions
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rtabmap_sync
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)
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if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
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add_definitions(-DPRE_ROS_JAZZY)
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endif()
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IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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add_definitions(-DPRE_ROS_LYRICAL)
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ENDIF()
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###########
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## Build ##
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###########
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SET(rtabmap_util_lib_src
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src/MapsManager.cpp
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)
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SET(rtabmap_util_plugins_src
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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/point_cloud_aggregator.cpp
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src/nodelets/point_cloud_assembler.cpp
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src/nodelets/imu_to_tf.cpp
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src/nodelets/db_player.cpp
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src/nodelets/lidar_deskewing.cpp
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src/nodelets/rgbd_relay.cpp
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src/nodelets/rgbd_split.cpp
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src/nodelets/map_assembler.cpp
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)
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# If octomap is found, add dependency
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IF(octomap_msgs_FOUND)
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MESSAGE(STATUS "WITH octomap_msgs")
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SET(PublicLibraries
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octomap_msgs::octomap_msgs
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${PublicLibraries}
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)
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SET(AmentLibraries
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octomap_msgs
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${AmentLibraries}
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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 grid_map is found, add dependency
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IF(grid_map_ros_FOUND)
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MESSAGE(STATUS "WITH grid_map_ros")
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SET(PublicLibraries
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grid_map_ros::grid_map_ros
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${PublicLibraries}
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)
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SET(AmentLibraries
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grid_map_ros
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${AmentLibraries}
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)
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ENDIF(grid_map_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_util SHARED
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${rtabmap_util_lib_src}
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)
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add_library(rtabmap_util_plugins SHARED
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${rtabmap_util_plugins_src}
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)
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target_include_directories(rtabmap_util
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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IF(octomap_msgs_FOUND)
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target_compile_definitions(rtabmap_util PUBLIC -DWITH_OCTOMAP_MSGS)
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ENDIF(octomap_msgs_FOUND)
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IF(grid_map_ros_FOUND)
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target_compile_definitions(rtabmap_util PUBLIC -DWITH_GRID_MAP_ROS)
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ENDIF(grid_map_ros_FOUND)
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(rtabmap_util ${AmentLibraries})
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ELSE()
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target_link_libraries(rtabmap_util PRIVATE ${Libraries} PUBLIC ${PublicLibraries})
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target_link_libraries(rtabmap_util_plugins PUBLIC ${Libraries})
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ENDIF()
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target_link_libraries(rtabmap_util_plugins PUBLIC rtabmap_util)
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDRelay")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::RGBDSplit")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::DisparityToDepth")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::ImuToTF")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::DbPlayer")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::LidarDeskewing")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudXYZ")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudXYZRGB")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudToDepthImage")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::ObstaclesDetection")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudAggregator")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::PointCloudAssembler")
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rclcpp_components_register_nodes(rtabmap_util_plugins "rtabmap_util::MapAssembler")
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add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
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target_link_libraries(rtabmap_rgbd_relay PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
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add_executable(rtabmap_rgbd_split src/RGBDSplitNode.cpp)
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target_link_libraries(rtabmap_rgbd_split PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")
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#add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
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#target_link_libraries(rtabmap_map_optimizer rtabmap_util_plugins)
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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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target_link_libraries(rtabmap_map_assembler PRIVATE rtabmap_util_plugins)
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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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target_link_libraries(rtabmap_imu_to_tf PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
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add_executable(rtabmap_disparity_to_depth src/DisparityToDepthNode.cpp)
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target_link_libraries(rtabmap_disparity_to_depth PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_disparity_to_depth PROPERTIES OUTPUT_NAME "disparity_to_depth")
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add_executable(rtabmap_lidar_deskewing src/LidarDeskewingNode.cpp)
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target_link_libraries(rtabmap_lidar_deskewing PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_lidar_deskewing PROPERTIES OUTPUT_NAME "lidar_deskewing")
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add_executable(rtabmap_point_cloud_xyz src/PointCloudXYZNode.cpp)
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target_link_libraries(rtabmap_point_cloud_xyz PRIVATE rtabmap_util_plugins)
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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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target_link_libraries(rtabmap_point_cloud_xyzrgb PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_point_cloud_xyzrgb PROPERTIES OUTPUT_NAME "point_cloud_xyzrgb")
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add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
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target_link_libraries(rtabmap_data_player PRIVATE rtabmap_util_plugins)
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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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#target_link_libraries(rtabmap_odom_msg_to_tf PRIVATE ${Libraries})
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#target_link_libraries(rtabmap_odom_msg_to_tf PRIVATE rtabmap_util_plugins)
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#set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
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add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
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target_link_libraries(rtabmap_pointcloud_to_depthimage PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
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add_executable(rtabmap_obstacles_detection src/ObstaclesDetectionNode.cpp)
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target_link_libraries(rtabmap_obstacles_detection PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_obstacles_detection PROPERTIES OUTPUT_NAME "obstacles_detection")
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add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
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target_link_libraries(rtabmap_point_cloud_aggregator PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "point_cloud_aggregator")
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add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
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target_link_libraries(rtabmap_point_cloud_assembler PRIVATE rtabmap_util_plugins)
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set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
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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(${PROJECT_NAME}) # To include downstream with targets
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ament_export_libraries(rtabmap_util rtabmap_util_plugins) # To include downstream without targets
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# Install Python executables
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install(PROGRAMS
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scripts/patrol.py
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# scripts/objects_to_tags.py
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# scripts/point_to_tf.py
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# scripts/netvlad_tf_ros.py
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# scripts/gazebo_ground_truth.py
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scripts/transform_to_tf.py
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scripts/yaml_to_camera_info.py
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scripts/republish_tf_static.py
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DESTINATION lib/${PROJECT_NAME}
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)
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install(TARGETS
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rtabmap_util
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rtabmap_util_plugins
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(TARGETS
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# rtabmap_map_optimizer
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rtabmap_data_player
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# rtabmap_odom_msg_to_tf
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rtabmap_imu_to_tf
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rtabmap_disparity_to_depth
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rtabmap_rgbd_relay
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rtabmap_rgbd_split
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rtabmap_lidar_deskewing
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rtabmap_point_cloud_xyz
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rtabmap_point_cloud_xyzrgb
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rtabmap_pointcloud_to_depthimage
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rtabmap_obstacles_detection
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rtabmap_point_cloud_aggregator
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rtabmap_point_cloud_assembler
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rtabmap_map_assembler
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DESTINATION lib/${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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