mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 01:07:49 +08:00
matlabbe
5207dab7c2
* rtabmap_slam tests and doc * another round of review of the doc * Disable by default use_intra_process_comms on latched/transient publishers * Added test to catch not unlocked mutex from early error exit * updated coverage settings * Using UScopeMutex on all tryLock()
283 lines
7.3 KiB
CMake
283 lines
7.3 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_slam)
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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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# To suppress PCL_ROOT warning
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if(POLICY CMP0074)
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cmake_policy(SET CMP0074 NEW)
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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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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(nav_msgs REQUIRED)
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find_package(pluginlib 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(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(visualization_msgs REQUIRED)
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find_package(rtabmap_msgs REQUIRED)
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find_package(rtabmap_util REQUIRED)
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find_package(rtabmap_sync REQUIRED)
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#optional
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find_package(apriltag_msgs)
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find_package(aruco_msgs)
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find_package(aruco_markers_msgs)
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find_package(aruco_opencv_msgs)
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find_package(ros2_aruco_interfaces)
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find_package(nav2_msgs)
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IF(WIN32)
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add_compile_options(-bigobj)
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ENDIF(WIN32)
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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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nav_msgs::nav_msgs
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rclcpp::rclcpp
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rclcpp_components::component
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sensor_msgs::sensor_msgs
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std_msgs::std_msgs
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std_srvs::std_srvs
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tf2::tf2
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tf2_ros::tf2_ros
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visualization_msgs::visualization_msgs
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rtabmap_msgs::rtabmap_msgs
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rtabmap_util::rtabmap_util
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rtabmap_sync::rtabmap_sync
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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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nav_msgs
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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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std_srvs
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tf2
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tf2_ros
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visualization_msgs
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rtabmap_msgs
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rtabmap_util
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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_slam_plugins_lib_src
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src/CoreWrapper.cpp
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)
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# If apriltag_msgs is found, add definition
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IF(apriltag_msgs_FOUND)
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MESSAGE(STATUS "WITH apriltag_msgs")
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ADD_DEFINITIONS("-DWITH_APRILTAG_MSGS")
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SET(Libraries
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${Libraries}
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apriltag_msgs::apriltag_msgs
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)
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SET(AmentLibraries
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${AmentLibraries}
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apriltag_msgs
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)
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ENDIF(apriltag_msgs_FOUND)
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# If aruco_msgs is found, add definition
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IF(aruco_msgs_FOUND)
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MESSAGE(STATUS "WITH aruco_msgs")
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ADD_DEFINITIONS("-DWITH_ARUCO_MSGS")
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SET(Libraries
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${Libraries}
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aruco_msgs::aruco_msgs
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)
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SET(AmentLibraries
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${AmentLibraries}
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aruco_msgs
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)
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ENDIF(aruco_msgs_FOUND)
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# If aruco_opencv_msgs is found, add definition
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IF(aruco_opencv_msgs_FOUND)
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MESSAGE(STATUS "WITH aruco_opencv_msgs")
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ADD_DEFINITIONS("-DWITH_ARUCO_OPENCV_MSGS")
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SET(Libraries
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${Libraries}
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aruco_opencv_msgs::aruco_opencv_msgs
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)
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SET(AmentLibraries
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${AmentLibraries}
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aruco_opencv_msgs
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)
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ENDIF(aruco_opencv_msgs_FOUND)
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# If aruco_markers_msgs is found, add definition
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IF(aruco_markers_msgs_FOUND)
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MESSAGE(STATUS "WITH aruco_markers_msgs")
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ADD_DEFINITIONS("-DWITH_ARUCO_MARKERS_MSGS")
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SET(Libraries
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${Libraries}
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aruco_markers_msgs::aruco_markers_msgs
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)
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SET(AmentLibraries
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${AmentLibraries}
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aruco_markers_msgs
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)
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ENDIF(aruco_markers_msgs_FOUND)
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# If ros2_aruco_interfaces is found, add definition
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IF(ros2_aruco_interfaces_FOUND)
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MESSAGE(STATUS "WITH ros2_aruco_interfaces")
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ADD_DEFINITIONS("-DWITH_ROS2_ARUCO_INTERFACES")
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SET(Libraries
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${Libraries}
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ros2_aruco_interfaces::ros2_aruco_interfaces
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)
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SET(AmentLibraries
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${AmentLibraries}
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ros2_aruco_interfaces
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)
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ENDIF(ros2_aruco_interfaces_FOUND)
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# If nav2_msgs is found, add definition
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IF(nav2_msgs_FOUND)
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MESSAGE(STATUS "WITH nav2_msgs")
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ADD_DEFINITIONS("-DWITH_NAV2_MSGS")
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SET(Libraries
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${Libraries}
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nav2_msgs::nav2_msgs
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)
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SET(AmentLibraries
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${AmentLibraries}
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nav2_msgs
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)
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IF(${nav2_msgs_VERSION_MAJOR} EQUAL 0)
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ADD_DEFINITIONS("-DNAV_MSGS_FOXY")
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ENDIF()
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ENDIF(nav2_msgs_FOUND)
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############################
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## Declare a cpp library
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############################
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add_library(rtabmap_slam_plugins SHARED
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${rtabmap_slam_plugins_lib_src}
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)
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target_include_directories(rtabmap_slam_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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ament_target_dependencies(rtabmap_slam_plugins ${AmentLibraries})
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else()
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target_link_libraries(rtabmap_slam_plugins PUBLIC ${Libraries})
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endif()
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rclcpp_components_register_nodes(rtabmap_slam_plugins "rtabmap_slam::CoreWrapper")
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add_executable(rtabmap_node src/CoreNode.cpp)
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target_link_libraries(rtabmap_node PRIVATE rtabmap_slam_plugins)
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set_target_properties(rtabmap_node PROPERTIES OUTPUT_NAME "rtabmap")
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#############
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## Install ##
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#############
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ament_export_dependencies(${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_slam_plugins) # To include downstream without targets
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install(TARGETS
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rtabmap_slam_plugins
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(TARGETS
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rtabmap_node
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DESTINATION lib/${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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#############
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## Testing ##
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#############
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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find_package(rtabmap_conversions REQUIRED)
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# Each test binary drives its own rtabmap node: a crash or a stuck executor in one
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# cannot take the others down, and each starts from a clean DDS graph.
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#
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# Each binary also gets its own DDS domain. colcon tests packages in parallel and ctest
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# can run these binaries in parallel, while these suites share topic names -- odom,
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# scan, info -- with the other packages' suites. On a shared domain they discover each
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# other's publishers and assertions then see traffic the test never sent. rtabmap_util
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# numbers from 30, rtabmap_sync from 50 and rtabmap_odom from 70; keep the ranges apart.
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set(rtabmap_slam_test_domain_id 90)
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macro(rtabmap_slam_add_node_test test_name)
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ament_add_gtest(${test_name} test/${test_name}.cpp
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ENV ROS_DOMAIN_ID=${rtabmap_slam_test_domain_id}
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TIMEOUT 300)
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math(EXPR rtabmap_slam_test_domain_id "${rtabmap_slam_test_domain_id} + 1")
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if(TARGET ${test_name})
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target_include_directories(${test_name} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/test)
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target_link_libraries(${test_name} rtabmap_slam_plugins)
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(${test_name} ${AmentLibraries} rtabmap_conversions)
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else()
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target_link_libraries(${test_name} ${Libraries} rtabmap_conversions::rtabmap_conversions)
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endif()
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endif()
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endmacro()
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rtabmap_slam_add_node_test(test_core_wrapper_parameters)
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rtabmap_slam_add_node_test(test_core_wrapper_mapping)
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rtabmap_slam_add_node_test(test_core_wrapper_services)
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rtabmap_slam_add_node_test(test_core_wrapper_planning)
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rtabmap_slam_add_node_test(test_core_wrapper_inputs)
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endif()
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ament_package()
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