mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-15 15:50:19 +08:00
matlabbe
67de27b1ee
* Add rtabmap_msgs/SensorData * After testing fixes * Updated output topic name * added explicit --logconsole for nodelets * fixed intermediate nodes not generated * Refactored SyncDiagnostic usage to handle nodelet name * SyncDiagnostic: added TimeStampStatus. Odom: added new status when data not received yet * rtabmap: Fixed parameters not updated when using nodelet
139 lines
4.1 KiB
CMake
139 lines
4.1 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_sync)
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge roscpp sensor_msgs nav_msgs image_transport
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nodelet message_filters rtabmap_msgs rtabmap_conversions diagnostic_updater
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)
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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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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES rtabmap_sync rtabmap_sync_plugins
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CATKIN_DEPENDS cv_bridge roscpp sensor_msgs nav_msgs image_transport
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nodelet message_filters rtabmap_msgs rtabmap_conversions diagnostic_updater
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CFG_EXTRAS extra_configs.cmake
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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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${catkin_INCLUDE_DIRS}
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)
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SET(rtabmap_sync_lib_src
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src/CommonDataSubscriber.cpp
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src/impl/CommonDataSubscriberDepth.cpp
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src/impl/CommonDataSubscriberStereo.cpp
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src/impl/CommonDataSubscriberRGB.cpp
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src/impl/CommonDataSubscriberRGBD.cpp
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src/impl/CommonDataSubscriberRGBDX.cpp
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src/impl/CommonDataSubscriberScan.cpp
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src/impl/CommonDataSubscriberOdom.cpp
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src/impl/CommonDataSubscriberSensorData.cpp
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)
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IF(RTABMAP_SYNC_MULTI_RGBD)
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SET(rtabmap_sync_lib_src
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${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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)
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IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
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SET(rtabmap_sync_plugins_lib_src ${rtabmap_sync_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgb_sync.cpp)
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ELSE()
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ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
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ENDIF()
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############################
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## Declare a cpp library
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############################
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add_library(rtabmap_sync
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${rtabmap_sync_lib_src}
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)
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add_library(rtabmap_sync_plugins
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${rtabmap_sync_plugins_lib_src}
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)
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target_link_libraries(rtabmap_sync
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${catkin_LIBRARIES}
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)
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target_link_libraries(rtabmap_sync_plugins
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${catkin_LIBRARIES}
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)
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add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
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target_link_libraries(rtabmap_rgbd_sync ${catkin_LIBRARIES})
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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 ${catkin_LIBRARIES})
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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 ${catkin_LIBRARIES})
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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 ${catkin_LIBRARIES})
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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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install(TARGETS
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rtabmap_sync
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rtabmap_sync_plugins
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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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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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