mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-14 15:20:19 +08:00
Mathieu Labbe
92c30adad8
Added publishing of laserscan data with data_player Updated for latest changes of the library (some methods moved from util3d) rtabmapviz not saving GUI config on ctrl-c
255 lines
7.5 KiB
CMake
255 lines
7.5 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(rtabmap_ros)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs
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image_transport tf tf_conversions laser_geometry pcl_conversions
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pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
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genmsg stereo_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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find_package(RTABMap 0.8 REQUIRED)
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#Qt stuff
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FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
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INCLUDE(${QT_USE_FILE})
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## We also use Ogre
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include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
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pkg_check_modules(OGRE OGRE)
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include_directories( ${OGRE_INCLUDE_DIRS} )
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link_directories( ${OGRE_LIBRARY_DIRS} )
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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#######################################
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## Declare ROS messages and services ##
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#######################################
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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Info.msg
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KeyPoint.msg
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MapData.msg
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Graph.msg
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NodeData.msg
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Link.msg
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OdomInfo.msg
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)
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## Generate services in the 'srv' folder
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add_service_files(
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FILES
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GetMap.srv
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PublishMap.srv
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ResetPose.srv
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)
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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geometry_msgs
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sensor_msgs
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)
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#add dynamic reconfigure api
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generate_dynamic_reconfigure_options(cfg/Camera.cfg)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES rtabmap_ros
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CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs
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image_transport tf tf_conversions laser_geometry pcl_conversions
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pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
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stereo_msgs
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${RTABMap_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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# libraries
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SET(Libraries
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${catkin_LIBRARIES}
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${RTABMap_LIBRARIES}
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)
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## RVIZ plugin
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qt4_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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# tf:message_filters, mixing boost and Qt signals
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set_property(
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SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
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PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
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)
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## Declare a cpp library
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add_library(rtabmap_ros
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src/nodelets/data_throttle.cpp
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src/nodelets/stereo_throttle.cpp
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src/nodelets/data_odom_sync.cpp
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src/nodelets/point_cloud_xyzrgb.cpp
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src/nodelets/point_cloud_xyz.cpp
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src/nodelets/disparity_to_depth.cpp
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src/nodelets/obstacles_detection.cpp
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src/MsgConversion.cpp
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src/OdometryROS.cpp
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src/rviz/MapCloudDisplay.cpp
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src/rviz/MapGraphDisplay.cpp
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src/rviz/InfoDisplay.cpp
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src/rviz/OrbitOrientedViewController.cpp
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${MOC_FILES}
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)
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target_link_libraries(rtabmap_ros
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${Libraries}
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${QT_LIBRARIES}
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${OGRE_LIBRARIES}
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)
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add_dependencies(rtabmap_ros rtabmap_generate_messages_cpp)
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add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp)
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add_dependencies(rtabmap rtabmap_generate_messages_cpp)
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target_link_libraries(rtabmap rtabmap_ros ${Libraries})
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add_executable(rgbd_odometry src/RGBDOdometryNode.cpp)
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target_link_libraries(rgbd_odometry rtabmap_ros ${Libraries})
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add_executable(stereo_odometry src/StereoOdometryNode.cpp)
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target_link_libraries(stereo_odometry rtabmap_ros ${Libraries})
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add_executable(map_optimizer src/MapOptimizerNode.cpp)
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target_link_libraries(map_optimizer rtabmap_ros ${Libraries})
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add_executable(map_assembler src/MapAssemblerNode.cpp)
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target_link_libraries(map_assembler rtabmap_ros ${Libraries})
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add_executable(grid_map_assembler src/GridMapAssemblerNode.cpp)
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target_link_libraries(grid_map_assembler rtabmap_ros ${Libraries})
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add_executable(planner src/PlannerNode.cpp)
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target_link_libraries(planner rtabmap_ros ${Libraries})
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add_executable(camera src/CameraNode.cpp)
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add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
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target_link_libraries(camera ${Libraries})
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add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
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target_link_libraries(rtabmapviz rtabmap_ros ${QT_LIBRARIES} ${Libraries})
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add_executable(data_recorder src/DataRecorderNode.cpp)
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target_link_libraries(data_recorder rtabmap_ros ${QT_LIBRARIES} ${Libraries})
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add_executable(data_player src/DbPlayerNode.cpp)
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target_link_libraries(data_player rtabmap_ros ${QT_LIBRARIES} ${Libraries})
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add_executable(odom_msg_to_tf src/OdomMsgToTFNode.cpp)
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target_link_libraries(odom_msg_to_tf rtabmap_ros ${Libraries})
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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install(TARGETS
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rtabmap_ros
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rtabmap
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rtabmapviz
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rgbd_odometry
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stereo_odometry
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map_assembler
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grid_map_assembler
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map_optimizer
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data_recorder
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data_player
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camera
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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 ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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install(FILES
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launch/rgbd_mapping.launch
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launch/rgbd_mapping_rviz.launch
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launch/rgbd_localization.launch
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launch/rgbd_localization_rviz.launch
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launch/data_recorder.launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
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install(DIRECTORY
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launch/config
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launch/data
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launch/demo
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
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## install plugins/nodelets xml
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install(FILES
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nodelet_plugins.xml
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plugin_description.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_rtabmap.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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