mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-16 00:00:20 +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
113 lines
2.6 KiB
CMake
113 lines
2.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_viz)
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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/$ENV{ROS_DISTRO}/lib"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
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)
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find_library(
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rcutils_LIB NAMES rcutils
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PATHS "/opt/ros/$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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find_library(
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crypto_LIB NAMES crypto
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PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
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)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(rtabmap_msgs REQUIRED)
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find_package(rtabmap_sync REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(RTABMap COMPONENTS gui REQUIRED)
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include_directories(
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${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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geometry_msgs::geometry_msgs
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rclcpp::rclcpp
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std_msgs::std_msgs
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std_srvs::std_srvs
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nav_msgs::nav_msgs
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rtabmap_msgs::rtabmap_msgs
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rtabmap_sync::rtabmap_sync
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tf2::tf2
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rtabmap::gui
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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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rclcpp
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std_msgs
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std_srvs
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nav_msgs
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rtabmap_msgs
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rtabmap_sync
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tf2
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RTABMap
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)
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###########
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## Build ##
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###########
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add_executable(rtabmap_viz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp include/${PROJECT_NAME}/PreferencesDialogROS.h)
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(rtabmap_viz ${AmentLibraries})
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else()
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target_link_libraries(rtabmap_viz PRIVATE ${Libraries})
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endif()
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SET_TARGET_PROPERTIES(
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rtabmap_viz
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PROPERTIES
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AUTOUIC ON
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AUTOMOC ON
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AUTORCC ON
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)
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add_executable(rgbd_image_viewer src/RGBDImageViewerNode.cpp src/rgbd_image_viewer.cpp include/${PROJECT_NAME}/rgbd_image_viewer.hpp)
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(rgbd_image_viewer ${AmentLibraries})
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else()
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target_link_libraries(rgbd_image_viewer PRIVATE ${Libraries})
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endif()
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SET_TARGET_PROPERTIES(
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rgbd_image_viewer
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PROPERTIES
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AUTOUIC ON
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AUTOMOC ON
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AUTORCC ON
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)
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#############
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## Install ##
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#############
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install(TARGETS
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rtabmap_viz
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rgbd_image_viewer
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()
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