rtabmap_ros/rtabmap_slam/CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(rtabmap_slam)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# To suppress PCL_ROOT warning
if(POLICY CMP0074)
    cmake_policy(SET CMP0074 NEW)
endif()

if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
  # issues #1285 #1288
  find_library(
    builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
  )
endif()

find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(rtabmap_msgs REQUIRED)
find_package(rtabmap_util REQUIRED)
find_package(rtabmap_sync REQUIRED)

#optional
find_package(apriltag_msgs)
find_package(aruco_msgs)
find_package(aruco_markers_msgs)
find_package(aruco_opencv_msgs)
find_package(ros2_aruco_interfaces)
find_package(nav2_msgs)

IF(WIN32)
add_compile_options(-bigobj)
ENDIF(WIN32)

include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}/include
)

# libraries
SET(Libraries
   cv_bridge::cv_bridge
   geometry_msgs::geometry_msgs
   nav_msgs::nav_msgs
   rclcpp::rclcpp
   rclcpp_components::component
   sensor_msgs::sensor_msgs
   std_msgs::std_msgs
   std_srvs::std_srvs
   tf2::tf2
   tf2_ros::tf2_ros
   visualization_msgs::visualization_msgs
   rtabmap_msgs::rtabmap_msgs
   rtabmap_util::rtabmap_util
   rtabmap_sync::rtabmap_sync
)
SET(AmentLibraries
   cv_bridge
   geometry_msgs
   nav_msgs
   rclcpp
   rclcpp_components
   sensor_msgs
   std_msgs
   std_srvs
   tf2
   tf2_ros
   visualization_msgs
   rtabmap_msgs
   rtabmap_util
   rtabmap_sync
)

if("$ENV{ROS_DISTRO}" STRLESS "jazzy")
  add_definitions(-DPRE_ROS_JAZZY)
endif()

IF("$ENV{ROS_DISTRO}" STRLESS "lyrical")
  add_definitions(-DPRE_ROS_LYRICAL)
ENDIF()

###########
## Build ##
###########

SET(rtabmap_slam_plugins_lib_src
   src/CoreWrapper.cpp
)

# If apriltag_msgs is found, add definition
IF(apriltag_msgs_FOUND)
MESSAGE(STATUS "WITH apriltag_msgs")
ADD_DEFINITIONS("-DWITH_APRILTAG_MSGS")
SET(Libraries
   ${Libraries}
   apriltag_msgs::apriltag_msgs
)
SET(AmentLibraries
   ${AmentLibraries}
   apriltag_msgs
)
ENDIF(apriltag_msgs_FOUND)

# If aruco_msgs is found, add definition
IF(aruco_msgs_FOUND)
MESSAGE(STATUS "WITH aruco_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_MSGS")
SET(Libraries
   ${Libraries}
   aruco_msgs::aruco_msgs
)
SET(AmentLibraries
   ${AmentLibraries}
   aruco_msgs
)
ENDIF(aruco_msgs_FOUND)

# If aruco_opencv_msgs is found, add definition
IF(aruco_opencv_msgs_FOUND)
MESSAGE(STATUS "WITH aruco_opencv_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_OPENCV_MSGS")
SET(Libraries
   ${Libraries}
   aruco_opencv_msgs::aruco_opencv_msgs
)
SET(AmentLibraries
   ${AmentLibraries}
   aruco_opencv_msgs
)
ENDIF(aruco_opencv_msgs_FOUND)

# If aruco_markers_msgs is found, add definition
IF(aruco_markers_msgs_FOUND)
MESSAGE(STATUS "WITH aruco_markers_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_MARKERS_MSGS")
SET(Libraries
   ${Libraries}
   aruco_markers_msgs::aruco_markers_msgs
)
SET(AmentLibraries
   ${AmentLibraries}
   aruco_markers_msgs
)
ENDIF(aruco_markers_msgs_FOUND)

# If ros2_aruco_interfaces is found, add definition
IF(ros2_aruco_interfaces_FOUND)
MESSAGE(STATUS "WITH ros2_aruco_interfaces")
ADD_DEFINITIONS("-DWITH_ROS2_ARUCO_INTERFACES")
SET(Libraries
   ${Libraries}
   ros2_aruco_interfaces::ros2_aruco_interfaces
)
SET(AmentLibraries
   ${AmentLibraries}
   ros2_aruco_interfaces
)
ENDIF(ros2_aruco_interfaces_FOUND)

# If nav2_msgs is found, add definition
IF(nav2_msgs_FOUND)
MESSAGE(STATUS "WITH nav2_msgs")
ADD_DEFINITIONS("-DWITH_NAV2_MSGS")
SET(Libraries
   ${Libraries}
   nav2_msgs::nav2_msgs
)
SET(AmentLibraries
   ${AmentLibraries}
   nav2_msgs
)
IF(${nav2_msgs_VERSION_MAJOR} EQUAL 0)
   ADD_DEFINITIONS("-DNAV_MSGS_FOXY")
ENDIF()
ENDIF(nav2_msgs_FOUND)

############################
## Declare a cpp library
############################
add_library(rtabmap_slam_plugins SHARED
   ${rtabmap_slam_plugins_lib_src}
)
target_include_directories(rtabmap_slam_plugins
  PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
)

if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
   ament_target_dependencies(rtabmap_slam_plugins ${AmentLibraries})
else()
   target_link_libraries(rtabmap_slam_plugins PUBLIC ${Libraries})
endif()

rclcpp_components_register_nodes(rtabmap_slam_plugins "rtabmap_slam::CoreWrapper")

add_executable(rtabmap_node src/CoreNode.cpp)
target_link_libraries(rtabmap_node PRIVATE rtabmap_slam_plugins)
set_target_properties(rtabmap_node PROPERTIES OUTPUT_NAME "rtabmap")

#############
## Install ##
#############

ament_export_dependencies(${AmentLibraries})
ament_export_include_directories(include)
ament_export_targets(${PROJECT_NAME})          # To include downstream with targets
ament_export_libraries(rtabmap_slam_plugins) # To include downstream without targets

install(TARGETS 
   rtabmap_slam_plugins
   EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
)

install(TARGETS 
   rtabmap_node 
   DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
   DESTINATION include
   FILES_MATCHING PATTERN "*.h"
)

#############
## Testing ##
#############
if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  find_package(rtabmap_conversions REQUIRED)

  # Each test binary drives its own rtabmap node: a crash or a stuck executor in one
  # cannot take the others down, and each starts from a clean DDS graph.
  #
  # Each binary also gets its own DDS domain. colcon tests packages in parallel and ctest
  # can run these binaries in parallel, while these suites share topic names -- odom,
  # scan, info -- with the other packages' suites. On a shared domain they discover each
  # other's publishers and assertions then see traffic the test never sent. rtabmap_util
  # numbers from 30, rtabmap_sync from 50 and rtabmap_odom from 70; keep the ranges apart.
  set(rtabmap_slam_test_domain_id 90)
  macro(rtabmap_slam_add_node_test test_name)
    ament_add_gtest(${test_name} test/${test_name}.cpp
      ENV ROS_DOMAIN_ID=${rtabmap_slam_test_domain_id}
      TIMEOUT 300)
    math(EXPR rtabmap_slam_test_domain_id "${rtabmap_slam_test_domain_id} + 1")
    if(TARGET ${test_name})
      target_include_directories(${test_name} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/test)
      target_link_libraries(${test_name} rtabmap_slam_plugins)
      if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
        ament_target_dependencies(${test_name} ${AmentLibraries} rtabmap_conversions)
      else()
        target_link_libraries(${test_name} ${Libraries} rtabmap_conversions::rtabmap_conversions)
      endif()
    endif()
  endmacro()

  rtabmap_slam_add_node_test(test_core_wrapper_parameters)
  rtabmap_slam_add_node_test(test_core_wrapper_mapping)
  rtabmap_slam_add_node_test(test_core_wrapper_services)
  rtabmap_slam_add_node_test(test_core_wrapper_planning)
  rtabmap_slam_add_node_test(test_core_wrapper_inputs)

  # The `rtabmap` executable under `ros2 launch`, stopped as Ctrl-C does.
  find_package(ament_cmake_pytest REQUIRED)
  ament_add_pytest_test(test_shutdown test/test_shutdown.py
    ENV ROS_DOMAIN_ID=${rtabmap_slam_test_domain_id} "PYTEST_ADDOPTS=-p no:cacheprovider"
    TIMEOUT 300)
endif()

ament_package()