mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-16 08:10:19 +08:00
matlabbe
d9cd332c53
* Removing ament_target_dependencies * always update ros * fixing rtabmap_costmap_plugins * rtabmap rviz plugins Qt5 * fixing qt5 private, nav2 costmap 2d layers * backward compatibility humble * backward comaptibility pre lyrical * fixing rolling build * should work on rolling now * fixed odom * auto cancel previous jobs
124 lines
3.3 KiB
CMake
124 lines
3.3 KiB
CMake
cmake_minimum_required(VERSION 3.5)
|
|
project(rtabmap_rviz_plugins)
|
|
|
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
endif()
|
|
|
|
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
|
|
# issues #1285 #1288
|
|
find_library(
|
|
message_filters_LIB NAMES message_filters
|
|
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
|
|
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
|
|
)
|
|
endif()
|
|
|
|
# Make sure it is first to prevent Qt6 from claiming the generic versionless targets first
|
|
find_package(Qt5 QUIET COMPONENTS Widgets)
|
|
|
|
find_package(ament_cmake_ros REQUIRED)
|
|
find_package(pcl_conversions REQUIRED)
|
|
find_package(pluginlib REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(rviz_common REQUIRED)
|
|
find_package(rviz_rendering REQUIRED)
|
|
find_package(rviz_default_plugins REQUIRED)
|
|
find_package(sensor_msgs REQUIRED)
|
|
find_package(std_msgs REQUIRED)
|
|
find_package(tf2 REQUIRED)
|
|
find_package(rtabmap_conversions REQUIRED)
|
|
find_package(rtabmap_msgs REQUIRED)
|
|
|
|
include_directories(
|
|
${CMAKE_CURRENT_SOURCE_DIR}/include
|
|
)
|
|
|
|
SET(Libraries
|
|
pcl_conversions::pcl_conversions
|
|
pluginlib::pluginlib
|
|
rclcpp::rclcpp
|
|
rviz_common::rviz_common
|
|
rviz_rendering::rviz_rendering
|
|
rviz_default_plugins::rviz_default_plugins
|
|
sensor_msgs::sensor_msgs
|
|
std_msgs::std_msgs
|
|
tf2::tf2
|
|
rtabmap_conversions::rtabmap_conversions
|
|
rtabmap_msgs::rtabmap_msgs
|
|
)
|
|
SET(AmentLibraries
|
|
pcl_conversions
|
|
pluginlib
|
|
rclcpp
|
|
rviz_common
|
|
rviz_rendering
|
|
rviz_default_plugins
|
|
sensor_msgs
|
|
std_msgs
|
|
tf2
|
|
rtabmap_conversions
|
|
rtabmap_msgs
|
|
)
|
|
|
|
###########
|
|
## Build ##
|
|
###########
|
|
|
|
## We also use Ogre for rviz plugins
|
|
include_directories( ${OGRE_INCLUDE_DIRS} )
|
|
|
|
# tf:message_filters, mixing boost and Qt signals
|
|
set_property(
|
|
SOURCE src/MapCloudDisplay.cpp src/MapGraphDisplay.cpp src/InfoDisplay.cpp src/OrbitOrientedViewController.cpp
|
|
PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
|
|
)
|
|
|
|
add_library(rtabmap_rviz_plugins SHARED
|
|
src/MapCloudDisplay.cpp
|
|
src/MapGraphDisplay.cpp
|
|
src/InfoDisplay.cpp
|
|
include/${PROJECT_NAME}/MapCloudDisplay.h
|
|
include/${PROJECT_NAME}/MapGraphDisplay.h
|
|
include/${PROJECT_NAME}/InfoDisplay.h
|
|
)
|
|
set_property(TARGET rtabmap_rviz_plugins PROPERTY AUTOMOC ON)
|
|
target_include_directories(rtabmap_rviz_plugins
|
|
PUBLIC
|
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
$<INSTALL_INTERFACE:include>
|
|
)
|
|
if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
|
|
ament_target_dependencies(rtabmap_rviz_plugins ${AmentLibraries})
|
|
ELSE()
|
|
target_link_libraries(rtabmap_rviz_plugins PRIVATE ${Libraries})
|
|
ENDIF()
|
|
|
|
# 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)
|
|
|
|
#############
|
|
## Install ##
|
|
#############
|
|
|
|
install(DIRECTORY include/
|
|
DESTINATION include
|
|
FILES_MATCHING PATTERN "*.h"
|
|
)
|
|
|
|
install(TARGETS
|
|
rtabmap_rviz_plugins
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION bin
|
|
INCLUDES DESTINATION include
|
|
)
|
|
|
|
ament_package()
|