mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-12 12:39:50 +08:00
matlabbe
82f0754bf7
* rtabmap_demos tests and docs * added bag testing * added rtabmap_examples launch tests * updating demo bag download paths * added netherdrone demo * Fixed rgb-only callback with lidar rejected. Updated lidar params * Added back OrbitOriented rviz view to ros2, with optional octomap wll clipping * fixing ci * lidar demo added intermediate_nodes option * added netherdrone as demo test * running rtabmap_demos tests on ci * added rtabmap_launch tests, fixed ground_truth_base_frame_id usage * ficing rolling * updating demo test harnest * densify golden trajectories to avoid tf missing * fixing tf steps * updated min icp ratio for netherdrone demo * fixing image_transport arg->params * export pose opt=0 * lets process all frames * updated netherdrone golden * fixing publishers queue size just for tests * added playdback demo doc * Adding more logs to debug ci * Fixing QOS for CI to reliable, added find-object demo test * name threads * fixing camera info expected transient on lyrical/rolling. Fixing find_object not appearing idle * 30 Hz polling backward comp * fixing test tf sim lock * fixing lyrical qos bag parsing * faster replay * lockstep * fixing clock deadlock * Added test on shutdown * updated netherdrone golden poses * Extended stereo outdoor test * updated shutdown test * updated test * multi-thread flaky test * adding backtrace when test fails * increased closure slack for netherdrone * g2o gauss newton on stereo * adjusted maximum optimizer iterations * updated default iterations * Added netherdrone in list of demos
148 lines
4.3 KiB
CMake
148 lines
4.3 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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if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
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# issues #1285 #1288
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find_library(
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message_filters_LIB NAMES message_filters
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PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
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)
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endif()
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# Make sure it is first to prevent Qt6 from claiming the generic versionless targets first
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find_package(Qt5 QUIET COMPONENTS Widgets)
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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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# Optional: wall clipping of the OrbitOriented view controller
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find_package(octomap QUIET)
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find_package(octomap_msgs QUIET)
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IF(octomap_FOUND AND octomap_msgs_FOUND)
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MESSAGE(STATUS "WITH octomap (OrbitOriented's wall clipping)")
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ELSE()
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MESSAGE(STATUS "WITHOUT octomap (OrbitOriented's wall clipping disabled)")
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ENDIF()
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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::pcl_conversions
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pluginlib::pluginlib
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rclcpp::rclcpp
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rviz_common::rviz_common
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rviz_rendering::rviz_rendering
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rviz_default_plugins::rviz_default_plugins
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sensor_msgs::sensor_msgs
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std_msgs::std_msgs
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tf2::tf2
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rtabmap_conversions::rtabmap_conversions
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rtabmap_msgs::rtabmap_msgs
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)
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SET(AmentLibraries
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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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###########
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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( ${OGRE_INCLUDE_DIRS} )
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# tf:message_filters, mixing boost and Qt signals
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set_property(
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SOURCE src/MapCloudDisplay.cpp src/MapGraphDisplay.cpp src/InfoDisplay.cpp src/OrbitOrientedViewController.cpp
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PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
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)
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add_library(rtabmap_rviz_plugins SHARED
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src/MapCloudDisplay.cpp
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src/MapGraphDisplay.cpp
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src/InfoDisplay.cpp
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src/OrbitOrientedViewController.cpp
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include/${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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include/${PROJECT_NAME}/OrbitOrientedViewController.h
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)
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set_property(TARGET rtabmap_rviz_plugins PROPERTY AUTOMOC ON)
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target_include_directories(rtabmap_rviz_plugins
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(rtabmap_rviz_plugins ${AmentLibraries})
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ELSE()
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target_link_libraries(rtabmap_rviz_plugins PRIVATE ${Libraries})
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ENDIF()
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IF(octomap_FOUND AND octomap_msgs_FOUND)
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target_compile_definitions(rtabmap_rviz_plugins PRIVATE RTABMAP_RVIZ_PLUGINS_OCTOMAP)
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target_include_directories(rtabmap_rviz_plugins PRIVATE ${OCTOMAP_INCLUDE_DIRS})
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# octomap's config only sets variables. The same signature as above, as CMake
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# requires for a target.
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if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
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ament_target_dependencies(rtabmap_rviz_plugins octomap_msgs)
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target_link_libraries(rtabmap_rviz_plugins ${OCTOMAP_LIBRARIES})
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ELSE()
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target_link_libraries(rtabmap_rviz_plugins PRIVATE octomap_msgs::octomap_msgs ${OCTOMAP_LIBRARIES})
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ENDIF()
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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_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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ament_package()
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