mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
131 lines
3.0 KiB
CMake
131 lines
3.0 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_slam)
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find_package(catkin REQUIRED COMPONENTS
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actionlib actionlib_msgs cv_bridge geometry_msgs
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move_base_msgs nav_msgs nodelet pluginlib sensor_msgs
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std_msgs std_srvs tf tf2_ros visualization_msgs
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rtabmap_msgs rtabmap_util rtabmap_sync
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)
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# Optional components
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find_package(apriltag_ros)
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find_package(fiducial_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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###################################
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## catkin specific configuration ##
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###################################
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SET(optional_dependencies "")
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IF(apriltag_ros_FOUND)
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SET(optional_dependencies ${optional_dependencies} apriltag_ros)
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ENDIF(apriltag_ros_FOUND)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES rtabmap_slam_plugins
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CATKIN_DEPENDS actionlib actionlib_msgs cv_bridge geometry_msgs
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move_base_msgs nav_msgs nodelet pluginlib sensor_msgs
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std_msgs std_srvs tf tf2_ros visualization_msgs
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rtabmap_msgs rtabmap_util rtabmap_sync ${optional_dependencies}
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)
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###########
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## Build ##
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###########
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${catkin_INCLUDE_DIRS}
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)
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# libraries
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SET(Libraries
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${catkin_LIBRARIES}
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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 octomap is found, add definition
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IF(octomap_msgs_FOUND)
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MESSAGE(STATUS "WITH octomap_msgs")
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ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
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ENDIF(octomap_msgs_FOUND)
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# If grid_map_core is found, add definition
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IF(grid_map_core_FOUND)
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MESSAGE(STATUS "WITH grid_map_core")
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ADD_DEFINITIONS("-DWITH_GRID_MAP_CORE")
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ENDIF(grid_map_core_FOUND)
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# If apriltag_ros is found, add definition
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IF(apriltag_ros_FOUND)
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MESSAGE(STATUS "WITH apriltag_ros")
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include_directories(
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${apriltag_ros_INCLUDE_DIRS}
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)
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SET(Libraries
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${apriltag_ros_LIBRARIES}
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${Libraries}
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)
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ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
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ENDIF(apriltag_ros_FOUND)
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# If fiducial_msgs is found, add definition
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IF(fiducial_msgs_FOUND)
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MESSAGE(STATUS "WITH fiducial_msgs")
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include_directories(
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${fiducial_msgs_INCLUDE_DIRS}
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)
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SET(Libraries
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${fiducial_msgs_LIBRARIES}
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${Libraries}
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)
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ADD_DEFINITIONS("-DWITH_FIDUCIAL_MSGS")
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ENDIF(fiducial_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
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${rtabmap_slam_plugins_lib_src}
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)
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target_link_libraries(rtabmap_slam_plugins
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${Libraries}
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)
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add_executable(rtabmap_node src/CoreNode.cpp)
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target_link_libraries(rtabmap_node ${Libraries})
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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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install(TARGETS
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rtabmap_slam_plugins
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rtabmap_node
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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install(FILES
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nodelet_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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