mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
71 lines
1.8 KiB
CMake
71 lines
1.8 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_legacy)
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find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure image_transport rtabmap_conversions rtabmap_msgs
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)
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generate_dynamic_reconfigure_options(cfg/Camera.cfg)
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catkin_package(
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LIBRARIES rtabmap_legacy_plugins
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CATKIN_DEPENDS dynamic_reconfigure image_transport rtabmap_conversions rtabmap_msgs
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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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${catkin_INCLUDE_DIRS}
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)
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SET(rtabmap_legacy_plugins_lib_src
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src/nodelets/data_throttle.cpp
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src/nodelets/stereo_throttle.cpp
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src/nodelets/data_odom_sync.cpp
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src/nodelets/obstacles_detection_old.cpp
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src/nodelets/undistort_depth.cpp
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)
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############################
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## Declare a cpp library
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############################
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add_library(rtabmap_legacy_plugins
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${rtabmap_legacy_plugins_lib_src}
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)
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target_link_libraries(rtabmap_legacy_plugins
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${catkin_LIBRARIES}
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)
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add_executable(rtabmap_camera src/CameraNode.cpp)
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add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
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target_link_libraries(rtabmap_camera ${catkin_LIBRARIES})
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set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
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add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp)
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target_link_libraries(rtabmap_stereo_camera ${catkin_LIBRARIES})
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set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
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#############
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## Install ##
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#############
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install(TARGETS
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rtabmap_legacy_plugins
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rtabmap_camera
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rtabmap_stereo_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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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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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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