mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
Shane Loretz
9f2253b84f
* Add dependency on nav_msgs Signed-off-by: Shane Loretz <[email protected]> * Also find_package(nav_msgs) Signed-off-by: Shane Loretz <[email protected]> --------- Signed-off-by: Shane Loretz <[email protected]>
162 lines
5.5 KiB
CMake
162 lines
5.5 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_util)
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge image_transport roscpp nav_msgs sensor_msgs std_msgs
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tf laser_geometry pcl_conversions pcl_ros nodelet message_filters
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pluginlib rtabmap_msgs rtabmap_conversions
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)
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# Optional components
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find_package(octomap_msgs)
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SET(optional_dependencies "")
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IF(octomap_msgs_FOUND)
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SET(optional_dependencies ${optional_dependencies} octomap_msgs)
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ENDIF(octomap_msgs_FOUND)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES rtabmap_util_plugins
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CATKIN_DEPENDS cv_bridge image_transport roscpp nav_msgs sensor_msgs std_msgs
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tf laser_geometry pcl_conversions pcl_ros nodelet message_filters
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pluginlib rtabmap_msgs rtabmap_conversions ${optional_dependencies}
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)
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###########
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## Build ##
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###########
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# include_directories(include)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${catkin_INCLUDE_DIRS}
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)
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SET(rtabmap_util_plugins_lib_src
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src/MapsManager.cpp
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src/nodelets/point_cloud_xyzrgb.cpp
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src/nodelets/point_cloud_xyz.cpp
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src/nodelets/disparity_to_depth.cpp
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src/nodelets/pointcloud_to_depthimage.cpp
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src/nodelets/obstacles_detection.cpp
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src/nodelets/point_cloud_aggregator.cpp
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src/nodelets/point_cloud_assembler.cpp
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src/nodelets/imu_to_tf.cpp
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src/nodelets/lidar_deskewing.cpp
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)
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IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
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SET(rtabmap_util_plugins_lib_src ${rtabmap_util_plugins_lib_src} src/nodelets/rgbd_relay.cpp src/nodelets/rgbd_split.cpp)
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ELSE()
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ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
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ENDIF()
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# If octomap is found, add definition
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IF(octomap_msgs_FOUND)
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MESSAGE(STATUS "WITH octomap_msgs")
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include_directories(
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${octomap_msgs_INCLUDE_DIRS}
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)
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SET(Libraries
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${octomap_msgs_LIBRARIES}
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${Libraries}
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)
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ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
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ENDIF(octomap_msgs_FOUND)
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############################
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## Declare a cpp library
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############################
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add_library(rtabmap_util_plugins
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${rtabmap_util_plugins_lib_src}
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)
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target_link_libraries(rtabmap_util_plugins
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${catkin_LIBRARIES}
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)
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add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
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target_link_libraries(rtabmap_rgbd_relay ${catkin_LIBRARIES})
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set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
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add_executable(rtabmap_rgbd_split src/RGBDSplitNode.cpp)
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target_link_libraries(rtabmap_rgbd_split ${catkin_LIBRARIES})
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set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")
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add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
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target_link_libraries(rtabmap_map_optimizer ${catkin_LIBRARIES})
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set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
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add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
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target_link_libraries(rtabmap_map_assembler rtabmap_util_plugins ${catkin_LIBRARIES})
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set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
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add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
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target_link_libraries(rtabmap_imu_to_tf ${catkin_LIBRARIES})
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set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
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add_executable(rtabmap_lidar_deskewing src/LidarDeskewingNode.cpp)
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target_link_libraries(rtabmap_lidar_deskewing ${catkin_LIBRARIES})
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set_target_properties(rtabmap_lidar_deskewing PROPERTIES OUTPUT_NAME "lidar_deskewing")
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add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
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target_link_libraries(rtabmap_data_player ${catkin_LIBRARIES})
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set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
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add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
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target_link_libraries(rtabmap_odom_msg_to_tf ${catkin_LIBRARIES})
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set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
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add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
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target_link_libraries(rtabmap_pointcloud_to_depthimage ${catkin_LIBRARIES})
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set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
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add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
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target_link_libraries(rtabmap_point_cloud_aggregator ${catkin_LIBRARIES})
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set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "rtabmap_point_cloud_aggregator")
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add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
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target_link_libraries(rtabmap_point_cloud_assembler ${catkin_LIBRARIES})
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set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
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#############
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## Install ##
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#############
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catkin_install_python(PROGRAMS
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scripts/patrol.py
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scripts/objects_to_tags.py
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scripts/point_to_tf.py
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scripts/transform_to_tf.py
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scripts/yaml_to_camera_info.py
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scripts/netvlad_tf_ros.py
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scripts/gazebo_ground_truth.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(TARGETS
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rtabmap_util_plugins
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rtabmap_map_assembler
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rtabmap_map_optimizer
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rtabmap_data_player
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rtabmap_odom_msg_to_tf
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rtabmap_pointcloud_to_depthimage
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rtabmap_point_cloud_assembler
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rtabmap_rgbd_relay
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rtabmap_rgbd_split
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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 ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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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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