mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
5062bf0614
* rtabmap_sync tests and doc * Added some diagrams * cleanup some diagrams * fixing running tests in parallels
241 lines
7.6 KiB
CMake
241 lines
7.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_sync)
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if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
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# issues #1285 #1288 (best-effort probes: not REQUIRED, a phantom miss under
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# emulated arm64 should not fail the build)
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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/$ENV{ROS_DISTRO}/lib"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
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)
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find_library(
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crypto_LIB NAMES crypto
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PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
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)
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endif()
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find_package(cv_bridge REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(message_filters REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(rtabmap_conversions REQUIRED)
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find_package(rtabmap_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(diagnostic_updater REQUIRED)
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option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support" OFF)
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option(RTABMAP_SYNC_USER_DATA "Build with input user data support" OFF)
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MESSAGE(STATUS "RTABMAP_SYNC_MULTI_RGBD = ${RTABMAP_SYNC_MULTI_RGBD}")
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MESSAGE(STATUS "RTABMAP_SYNC_USER_DATA = ${RTABMAP_SYNC_USER_DATA}")
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IF(RTABMAP_SYNC_MULTI_RGBD)
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add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
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SET(RTABMAP_SYNC_MULTI_RGBD_CONF 1)
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ELSE()
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SET(RTABMAP_SYNC_MULTI_RGBD_CONF 0)
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ENDIF()
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IF(RTABMAP_SYNC_USER_DATA)
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add_definitions("-DRTABMAP_SYNC_USER_DATA")
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SET(RTABMAP_SYNC_USER_DATA_CONF 1)
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ELSE()
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SET(RTABMAP_SYNC_USER_DATA_CONF 0)
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ENDIF()
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IF(WIN32)
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add_compile_options(-bigobj)
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ENDIF(WIN32)
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configure_file(cmake/extra_configs.cmake.in cmake/extra_configs.cmake IMMEDIATE @ONLY)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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# libraries
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SET(Libraries
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rclcpp_components::component
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)
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SET(PublicLibraries
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cv_bridge::cv_bridge
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rclcpp::rclcpp
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message_filters::message_filters
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image_transport::image_transport
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sensor_msgs::sensor_msgs
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nav_msgs::nav_msgs
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rtabmap_msgs::rtabmap_msgs
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rtabmap_conversions::rtabmap_conversions
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diagnostic_updater::diagnostic_updater
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)
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SET(AmentLibraries
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cv_bridge
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image_transport
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message_filters
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nav_msgs
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rclcpp
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rclcpp_components
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rtabmap_conversions
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rtabmap_msgs
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sensor_msgs
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diagnostic_updater
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)
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IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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add_definitions(-DPRE_ROS_LYRICAL)
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ENDIF()
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###########
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## Build ##
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###########
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SET(rtabmap_sync_lib_src
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src/CommonDataSubscriber.cpp
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src/impl/CommonDataSubscriberDepth.cpp
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src/impl/CommonDataSubscriberStereo.cpp
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src/impl/CommonDataSubscriberRGB.cpp
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src/impl/CommonDataSubscriberRGBD.cpp
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src/impl/CommonDataSubscriberRGBDX.cpp
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src/impl/CommonDataSubscriberScan.cpp
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src/impl/CommonDataSubscriberOdom.cpp
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src/impl/CommonDataSubscriberSensorData.cpp
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)
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IF(RTABMAP_SYNC_MULTI_RGBD)
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SET(rtabmap_sync_lib_src
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${rtabmap_sync_lib_src}
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src/impl/CommonDataSubscriberRGBD2.cpp
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src/impl/CommonDataSubscriberRGBD3.cpp
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src/impl/CommonDataSubscriberRGBD4.cpp
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src/impl/CommonDataSubscriberRGBD5.cpp
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src/impl/CommonDataSubscriberRGBD6.cpp
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)
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ENDIF(RTABMAP_SYNC_MULTI_RGBD)
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SET(rtabmap_sync_plugins_lib_src
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src/nodelets/rgbdx_sync.cpp
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src/nodelets/rgbd_sync.cpp
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src/nodelets/stereo_sync.cpp
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src/nodelets/rgb_sync.cpp
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)
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############################
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## Declare a cpp library
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############################
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add_library(rtabmap_sync SHARED
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${rtabmap_sync_lib_src}
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)
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add_library(rtabmap_sync_plugins SHARED
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${rtabmap_sync_plugins_lib_src}
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)
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target_include_directories(rtabmap_sync
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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_sync ${AmentLibraries})
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ELSE()
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target_link_libraries(rtabmap_sync PRIVATE ${Libraries} PUBLIC ${PublicLibraries})
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target_link_libraries(rtabmap_sync_plugins PUBLIC ${Libraries})
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ENDIF()
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target_link_libraries(rtabmap_sync_plugins PUBLIC rtabmap_sync)
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rclcpp_components_register_nodes(rtabmap_sync_plugins "rtabmap_sync::RGBDSync")
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rclcpp_components_register_nodes(rtabmap_sync_plugins "rtabmap_sync::StereoSync")
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rclcpp_components_register_nodes(rtabmap_sync_plugins "rtabmap_sync::RGBSync")
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rclcpp_components_register_nodes(rtabmap_sync_plugins "rtabmap_sync::RGBDXSync")
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add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
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target_link_libraries(rtabmap_rgbd_sync PRIVATE rtabmap_sync_plugins)
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set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
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add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
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target_link_libraries(rtabmap_rgbdx_sync PRIVATE rtabmap_sync_plugins)
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set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")
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add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
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target_link_libraries(rtabmap_stereo_sync PRIVATE rtabmap_sync_plugins)
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set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
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add_executable(rtabmap_rgb_sync src/RGBSyncNode.cpp)
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target_link_libraries(rtabmap_rgb_sync PRIVATE rtabmap_sync_plugins)
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set_target_properties(rtabmap_rgb_sync PROPERTIES OUTPUT_NAME "rgb_sync")
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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_sync rtabmap_sync_plugins) # To include downstream without targets
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install(TARGETS
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rtabmap_sync
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rtabmap_sync_plugins
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(TARGETS
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rtabmap_rgbd_sync
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rtabmap_rgbdx_sync
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rtabmap_stereo_sync
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rtabmap_rgb_sync
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DESTINATION lib/${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 REQUIRED)
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# Each node gets its own test binary: a crash or a stuck executor in one node cannot
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# take the others down, and every binary starts with 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 -- rgb/image,
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# rgbd_image, odom -- with rtabmap_util's. On a shared domain they discover each other's
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# publishers, and assertions then see traffic the test never sent. rtabmap_util numbers
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# its own from 30; keep the two ranges apart.
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set(rtabmap_sync_test_domain_id 50)
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macro(rtabmap_sync_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=${rtabmap_sync_test_domain_id})
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math(EXPR rtabmap_sync_test_domain_id "${rtabmap_sync_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_sync_plugins rtabmap_sync)
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(${test_name} ${AmentLibraries})
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else()
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target_link_libraries(${test_name} ${Libraries} ${PublicLibraries})
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endif()
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endif()
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endmacro()
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rtabmap_sync_add_node_test(test_rgbd_sync)
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rtabmap_sync_add_node_test(test_rgb_sync)
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rtabmap_sync_add_node_test(test_stereo_sync)
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rtabmap_sync_add_node_test(test_rgbdx_sync)
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rtabmap_sync_add_node_test(test_common_data_subscriber)
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rtabmap_sync_add_node_test(test_common_data_subscriber_sync)
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rtabmap_sync_add_node_test(test_sync_diagnostic)
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endif()
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ament_package(CONFIG_EXTRAS ${CMAKE_CURRENT_BINARY_DIR}/cmake/extra_configs.cmake)
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