mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
98 lines
2.8 KiB
CMake
98 lines
2.8 KiB
CMake
cmake_minimum_required(VERSION 3.5)
|
|
project(rtabmap_odom)
|
|
|
|
find_package(catkin REQUIRED COMPONENTS
|
|
cv_bridge image_geometry laser_geometry message_filters
|
|
nav_msgs nodelet pcl_conversions pcl_ros pluginlib roscpp
|
|
sensor_msgs rtabmap_conversions rtabmap_msgs rtabmap_util
|
|
)
|
|
|
|
catkin_package(
|
|
INCLUDE_DIRS include
|
|
LIBRARIES rtabmap_odom rtabmap_odom_plugins
|
|
CATKIN_DEPENDS cv_bridge image_geometry laser_geometry message_filters
|
|
nav_msgs nodelet pcl_conversions pcl_ros pluginlib roscpp
|
|
sensor_msgs rtabmap_conversions rtabmap_msgs rtabmap_util
|
|
)
|
|
|
|
###########
|
|
## Build ##
|
|
###########
|
|
|
|
include_directories(
|
|
${CMAKE_CURRENT_SOURCE_DIR}/include
|
|
${catkin_INCLUDE_DIRS}
|
|
)
|
|
|
|
SET(rtabmap_odom_lib_src
|
|
src/OdometryROS.cpp
|
|
src/PluginInterface.cpp
|
|
)
|
|
|
|
SET(rtabmap_odom_plugins_lib_src
|
|
src/nodelets/rgbd_odometry.cpp
|
|
src/nodelets/stereo_odometry.cpp
|
|
src/nodelets/rgbdicp_odometry.cpp
|
|
src/nodelets/icp_odometry.cpp
|
|
)
|
|
|
|
############################
|
|
## Declare a cpp library
|
|
############################
|
|
add_library(rtabmap_odom
|
|
${rtabmap_odom_lib_src}
|
|
)
|
|
add_library(rtabmap_odom_plugins
|
|
${rtabmap_odom_plugins_lib_src}
|
|
)
|
|
|
|
target_link_libraries(rtabmap_odom
|
|
${catkin_LIBRARIES}
|
|
)
|
|
target_link_libraries(rtabmap_odom_plugins
|
|
rtabmap_odom
|
|
${catkin_LIBRARIES}
|
|
)
|
|
|
|
add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
|
|
target_link_libraries(rtabmap_rgbd_odometry rtabmap_odom_plugins)
|
|
set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
|
|
|
|
add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
|
|
target_link_libraries(rtabmap_stereo_odometry rtabmap_odom_plugins)
|
|
set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
|
|
|
|
add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
|
|
target_link_libraries(rtabmap_rgbdicp_odometry rtabmap_odom_plugins)
|
|
set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
|
|
|
|
add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
|
|
target_link_libraries(rtabmap_icp_odometry rtabmap_odom_plugins)
|
|
set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
|
|
|
|
#############
|
|
## Install ##
|
|
#############
|
|
|
|
install(TARGETS
|
|
rtabmap_odom
|
|
rtabmap_odom_plugins
|
|
rtabmap_rgbd_odometry
|
|
rtabmap_icp_odometry
|
|
rtabmap_rgbdicp_odometry
|
|
rtabmap_stereo_odometry
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
install(DIRECTORY include/${PROJECT_NAME}/
|
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
|
FILES_MATCHING PATTERN "*.h"
|
|
)
|
|
|
|
install(FILES
|
|
nodelet_plugins.xml
|
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
)
|