mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +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
100 lines
2.7 KiB
CMake
100 lines
2.7 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_costmap_plugins)
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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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find_package(ament_cmake_ros REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(nav2_costmap_2d REQUIRED)
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find_package(visualization_msgs REQUIRED)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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SET(Libraries
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pluginlib::pluginlib
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rclcpp::rclcpp
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nav2_costmap_2d::layers
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visualization_msgs::visualization_msgs
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)
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SET(AmentLibraries
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pluginlib
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rclcpp
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nav2_costmap_2d
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visualization_msgs
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)
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###########
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## Build ##
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###########
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add_library(rtabmap_costmap_plugins SHARED
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src/voxel_layer.cpp
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)
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target_include_directories(rtabmap_costmap_plugins
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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IF("$ENV{ROS_DISTRO}" STRLESS "jazzy")
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target_compile_definitions(rtabmap_costmap_plugins PRIVATE -DPRE_ROS_JAZZY)
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ENDIF()
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ament_target_dependencies(rtabmap_costmap_plugins ${AmentLibraries})
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ELSE()
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target_link_libraries(rtabmap_costmap_plugins PRIVATE ${Libraries})
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ENDIF()
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(rtabmap_costmap_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")
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# prevent pluginlib from using boost
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target_compile_definitions(rtabmap_costmap_plugins PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
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add_executable(rtabmap_costmap_voxel_marker src/voxel_marker.cpp)
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IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(rtabmap_costmap_voxel_marker ${AmentLibraries})
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ELSE()
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target_link_libraries(rtabmap_costmap_voxel_marker PRIVATE ${Libraries})
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ENDIF()
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set_target_properties(rtabmap_costmap_voxel_marker PROPERTIES OUTPUT_NAME "voxel_marker")
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#############
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## Install ##
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#############
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ament_export_dependencies(${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_costmap_plugins) # To include downstream without targets
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install(TARGETS
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rtabmap_costmap_plugins
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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install(TARGETS
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rtabmap_costmap_voxel_marker
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DESTINATION lib/${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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ament_package()
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