mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
117 lines
2.9 KiB
CMake
117 lines
2.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_rviz_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(pcl_conversions REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rviz_common REQUIRED)
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find_package(rviz_rendering REQUIRED)
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find_package(rviz_default_plugins REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(rtabmap_conversions REQUIRED)
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find_package(rtabmap_msgs REQUIRED)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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SET(Libraries
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pcl_conversions
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pluginlib
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rclcpp
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rviz_common
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rviz_rendering
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rviz_default_plugins
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sensor_msgs
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std_msgs
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tf2
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rtabmap_conversions
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rtabmap_msgs
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)
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MESSAGE(STATUS "rtabmap_conversions=${rtabmap_conversions_LIBRARIES}")
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###########
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## Build ##
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###########
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## We also use Ogre for rviz plugins
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include_directories( ${OGRE_INCLUDE_DIRS} )
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## RVIZ plugin
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IF(QT4_FOUND)
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qt4_wrap_cpp(MOC_FILES
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include/${PROJECT_NAME}/MapCloudDisplay.h
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include/${PROJECT_NAME}/MapGraphDisplay.h
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include/${PROJECT_NAME}/InfoDisplay.h
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)
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ELSE()
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qt5_wrap_cpp(MOC_FILES
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include/${PROJECT_NAME}/MapCloudDisplay.h
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include/${PROJECT_NAME}/MapGraphDisplay.h
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include/${PROJECT_NAME}/InfoDisplay.h
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)
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ENDIF()
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# tf:message_filters, mixing boost and Qt signals
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set_property(
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SOURCE src/MapCloudDisplay.cpp src/MapGraphDisplay.cpp src/InfoDisplay.cpp src/OrbitOrientedViewController.cpp
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PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
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)
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add_library(rtabmap_rviz_plugins SHARED
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src/MapCloudDisplay.cpp
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src/MapGraphDisplay.cpp
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src/InfoDisplay.cpp
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${MOC_FILES}
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)
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target_include_directories(rtabmap_rviz_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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ament_target_dependencies(rtabmap_rviz_plugins ${Libraries})
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IF(Qt5_FOUND)
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QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
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ENDIF(Qt5_FOUND)
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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_rviz_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")
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# prevent pluginlib from using boost
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target_compile_definitions(rtabmap_rviz_plugins PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
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#############
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## Install ##
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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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install(TARGETS
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rtabmap_rviz_plugins
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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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pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
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ament_package()
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