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rtabmap_ros/CMakeLists.txt
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CMake
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cmake_minimum_required(VERSION 2.8.3)
project(rtabmap_ros)
# Policy CMP0043 introduced in cmake version 3.0 IGNORES the use of COMPILE_DEFINITIONS suffixed variables, e.g. COMPILE_DEFINITIONS_DEBUG
# Set to OLD behavior until minimum cmake version >= 2.8.10 (version that COMPILE_DEFINITIONS can be set by generator expressions instead)
if (POLICY CMP0043)
cmake_policy(SET CMP0043 OLD)
endif (POLICY CMP0043)
# Policy CMP0042 introduced in cmake version 3.0 enables the use of @rpath in an install name via MACOSX_RPATH by default
# Set to OLD behavior so that all versions use the same behavior, or until minimum cmake version >= 2.8.12 (version where @rpath is available)
if (POLICY CMP0042)
cmake_policy(SET CMP0042 OLD)
endif (POLICY CMP0042)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions
pcl_ros nodelet dynamic_reconfigure message_filters class_loader rosgraph_msgs
genmsg stereo_msgs move_base_msgs image_geometry pluginlib
)
# Optional components
find_package(costmap_2d)
find_package(octomap_msgs)
find_package(apriltag_ros)
find_package(rviz)
find_package(find_object_2d)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.20.13 REQUIRED)
find_package(OpenCV REQUIRED)
IF(RTABMAP_GUI)
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
ELSE()
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation )
ENDIF()
add_definitions(${PCL_DEFINITIONS}) # To include -march=native if set
IF(WIN32)
add_compile_options(-bigobj)
ENDIF(WIN32)
# kinetic issue, rtabmap now requires at least c++11
if("$ENV{ROS_DISTRO}" STREQUAL "kinetic")
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
IF(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_STANDARD 14)
ELSEIF(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_STANDARD 11)
ENDIF()
endif()
option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support" OFF)
option(RTABMAP_SYNC_USER_DATA "Build with input user data support" OFF)
MESSAGE(STATUS "RTABMAP_SYNC_MULTI_RGBD = ${RTABMAP_SYNC_MULTI_RGBD}")
MESSAGE(STATUS "RTABMAP_SYNC_USER_DATA = ${RTABMAP_SYNC_USER_DATA}")
IF(RTABMAP_SYNC_MULTI_RGBD)
add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
ENDIF(RTABMAP_SYNC_MULTI_RGBD)
IF(RTABMAP_SYNC_USER_DATA)
add_definitions("-DRTABMAP_SYNC_USER_DATA")
ENDIF(RTABMAP_SYNC_USER_DATA)
#Qt stuff
# If librtabmap_gui.so is found, rtabmapviz will be built
# If rviz is found, plugins will be built
IF(RTABMAP_GUI OR rviz_FOUND)
IF(RTABMAP_QT_VERSION EQUAL 4)
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
INCLUDE(${QT_USE_FILE})
ELSE()
IF(RTABMAP_GUI)
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui REQUIRED)
ELSE()
# For rviz plugins, look for Qt5 before Qt4
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
IF(NOT Qt5_FOUND)
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
INCLUDE(${QT_USE_FILE})
ENDIF(NOT Qt5_FOUND)
ENDIF()
ENDIF()
ENDIF(RTABMAP_GUI OR rviz_FOUND)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
catkin_python_setup()
#######################################
## Declare ROS messages and services ##
#######################################
## Generate messages in the 'msg' folder
add_message_files(
FILES
Info.msg
KeyPoint.msg
GlobalDescriptor.msg
ScanDescriptor.msg
MapData.msg
MapGraph.msg
NodeData.msg
Link.msg
OdomInfo.msg
Point2f.msg
Point3f.msg
Goal.msg
RGBDImage.msg
RGBDImages.msg
UserData.msg
GPS.msg
Path.msg
EnvSensor.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
GetMap.srv
GetMap2.srv
ListLabels.srv
PublishMap.srv
ResetPose.srv
SetGoal.srv
SetLabel.srv
GetPlan.srv
AddLink.srv
GetNodeData.srv
GetNodesInRadius.srv
LoadDatabase.srv
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
sensor_msgs
)
#add dynamic reconfigure api
generate_dynamic_reconfigure_options(cfg/Camera.cfg)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
SET(optional_dependencies "")
IF(costmap_2d_FOUND)
SET(optional_dependencies ${optional_dependencies} costmap_2d)
ENDIF(costmap_2d_FOUND)
IF(octomap_msgs_FOUND)
SET(optional_dependencies ${optional_dependencies} octomap_msgs)
ENDIF(octomap_msgs_FOUND)
IF(rviz_FOUND)
SET(optional_dependencies ${optional_dependencies} rviz)
ENDIF(rviz_FOUND)
IF(find_object_2d_FOUND)
SET(optional_dependencies ${optional_dependencies} find_object_2d)
ENDIF(find_object_2d_FOUND)
catkin_package(
INCLUDE_DIRS include
LIBRARIES rtabmap_ros
CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions
pcl_ros nodelet dynamic_reconfigure message_filters class_loader rosgraph_msgs
stereo_msgs move_base_msgs image_geometry ${optional_dependencies}
DEPENDS RTABMap OpenCV
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include
${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
# libraries
SET(Libraries
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${catkin_LIBRARIES}
${RTABMap_LIBRARIES}
)
SET(rtabmap_sync_lib_src
src/CommonDataSubscriber.cpp
src/impl/CommonDataSubscriberDepth.cpp
src/impl/CommonDataSubscriberStereo.cpp
src/impl/CommonDataSubscriberRGB.cpp
src/impl/CommonDataSubscriberRGBD.cpp
src/impl/CommonDataSubscriberRGBDX.cpp
src/impl/CommonDataSubscriberScan.cpp
src/impl/CommonDataSubscriberOdom.cpp
src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib
)
IF(RTABMAP_SYNC_MULTI_RGBD)
SET(rtabmap_sync_lib_src
${rtabmap_sync_lib_src}
src/impl/CommonDataSubscriberRGBD2.cpp
src/impl/CommonDataSubscriberRGBD3.cpp
src/impl/CommonDataSubscriberRGBD4.cpp
src/impl/CommonDataSubscriberRGBD5.cpp
src/impl/CommonDataSubscriberRGBD6.cpp
)
ENDIF(RTABMAP_SYNC_MULTI_RGBD)
SET(rtabmap_ros_lib_src
src/MsgConversion.cpp
src/MapsManager.cpp
src/OdometryROS.cpp
src/PluginInterface.cpp
)
SET(rtabmap_plugins_lib_src
src/nodelets/rgbd_odometry.cpp
src/nodelets/stereo_odometry.cpp
src/nodelets/rgbdicp_odometry.cpp
src/nodelets/icp_odometry.cpp
src/nodelets/data_throttle.cpp
src/nodelets/stereo_throttle.cpp
src/nodelets/data_odom_sync.cpp
src/nodelets/point_cloud_xyzrgb.cpp
src/nodelets/point_cloud_xyz.cpp
src/nodelets/disparity_to_depth.cpp
src/nodelets/pointcloud_to_depthimage.cpp
src/nodelets/obstacles_detection.cpp
src/nodelets/obstacles_detection_old.cpp
src/nodelets/point_cloud_aggregator.cpp
src/nodelets/point_cloud_assembler.cpp
src/nodelets/undistort_depth.cpp
src/nodelets/imu_to_tf.cpp
src/nodelets/rgbdx_sync.cpp
)
IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
SET(rtabmap_plugins_lib_src ${rtabmap_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgb_sync.cpp src/nodelets/rgbd_relay.cpp)
ELSE()
ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
ENDIF()
# If octomap is found, add definition
IF(octomap_msgs_FOUND)
MESSAGE(STATUS "WITH octomap_msgs")
include_directories(
${octomap_msgs_INCLUDE_DIRS}
)
SET(Libraries
${octomap_msgs_LIBRARIES}
${Libraries}
)
ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
ENDIF(octomap_msgs_FOUND)
# If apriltag_ros is found, add definition
IF(apriltag_ros_FOUND)
MESSAGE(STATUS "WITH apriltag_ros")
include_directories(
${apriltag_ros_INCLUDE_DIRS}
)
SET(Libraries
${apriltag_ros_LIBRARIES}
${Libraries}
)
ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
ENDIF(apriltag_ros_FOUND)
############################
## Declare a cpp library
############################
add_library(rtabmap_sync
${rtabmap_sync_lib_src}
)
add_library(rtabmap_ros
${rtabmap_ros_lib_src}
)
add_library(rtabmap_plugins
${rtabmap_plugins_lib_src}
)
target_link_libraries(rtabmap_sync
rtabmap_ros
)
target_link_libraries(rtabmap_ros
${Libraries}
)
target_link_libraries(rtabmap_plugins
rtabmap_ros
)
add_dependencies(rtabmap_ros ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_dependencies(rtabmap_plugins ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_executable(rtabmap src/CoreNode.cpp)
target_link_libraries(rtabmap ${Libraries})
add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
target_link_libraries(rtabmap_rgbd_odometry ${Libraries})
set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
target_link_libraries(rtabmap_stereo_odometry ${Libraries})
set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
target_link_libraries(rtabmap_rgbdicp_odometry ${Libraries})
set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
target_link_libraries(rtabmap_icp_odometry ${Libraries})
set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
target_link_libraries(rtabmap_rgbd_sync ${Libraries})
set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
target_link_libraries(rtabmap_rgbdx_sync ${Libraries})
set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")
add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
target_link_libraries(rtabmap_stereo_sync ${Libraries})
set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
add_executable(rtabmap_rgb_sync src/RGBSyncNode.cpp)
target_link_libraries(rtabmap_rgb_sync ${Libraries})
set_target_properties(rtabmap_rgb_sync PROPERTIES OUTPUT_NAME "rgb_sync")
add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
target_link_libraries(rtabmap_rgbd_relay ${Libraries})
set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
target_link_libraries(rtabmap_map_optimizer rtabmap_ros)
set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
target_link_libraries(rtabmap_map_assembler rtabmap_ros)
set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
target_link_libraries(rtabmap_imu_to_tf ${Libraries})
set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
IF(NOT WIN32)
add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
target_link_libraries(rtabmap_wifi_signal_pub rtabmap_ros)
set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
ENDIF(NOT WIN32)
add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
target_link_libraries(rtabmap_wifi_signal_sub rtabmap_ros)
set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
# If find_object_2d is found, add save objects example
IF(find_object_2d_FOUND)
MESSAGE(STATUS "WITH find_object_2d")
include_directories(${find_object_2d_INCLUDE_DIRS})
add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
target_link_libraries(rtabmap_save_objects_example ${Libraries} rtabmap_ros ${find_object_2d_LIBRARIES})
set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
ENDIF(find_object_2d_FOUND)
add_executable(rtabmap_external_loop_detectionexample src/ExternalLoopDetectionExample.cpp)
target_link_libraries(rtabmap_external_loop_detectionexample ${Libraries} rtabmap_ros)
set_target_properties(rtabmap_external_loop_detectionexample PROPERTIES OUTPUT_NAME "external_loop_detection_example")
add_executable(rtabmap_camera src/CameraNode.cpp)
add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(rtabmap_camera ${Libraries})
set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp)
target_link_libraries(rtabmap_stereo_camera rtabmap_ros)
set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
IF(RTABMAP_GUI)
add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
target_link_libraries(rtabmapviz rtabmap_sync ${QT_LIBRARIES})
IF(Qt5_FOUND)
QT5_USE_MODULES(rtabmapviz Widgets Core Gui)
ENDIF()
ELSE()
MESSAGE(WARNING "Found RTAB-Map built without its GUI library. Node rtabmapviz will not be built!")
ENDIF()
add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
target_link_libraries(rtabmap_data_player rtabmap_ros)
set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
target_link_libraries(rtabmap_odom_msg_to_tf rtabmap_ros)
set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
target_link_libraries(rtabmap_pointcloud_to_depthimage ${Libraries})
set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
target_link_libraries(rtabmap_point_cloud_aggregator ${Libraries})
set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "rtabmap_point_cloud_aggregator")
add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
target_link_libraries(rtabmap_point_cloud_assembler ${Libraries})
set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
# If rviz is found, add plugins
IF(rviz_FOUND)
## We also use Ogre for rviz plugins
include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
pkg_check_modules(OGRE OGRE)
include_directories( ${OGRE_INCLUDE_DIRS} )
link_directories( ${OGRE_LIBRARY_DIRS} )
MESSAGE(STATUS "WITH rviz")
include_directories(
${rviz_INCLUDE_DIRS}
)
SET(Libraries
${Libraries}
${rviz_LIBRARIES}
${rviz_DEFAULT_PLUGIN_LIBRARIES}
)
## RVIZ plugin
IF(QT4_FOUND)
IF(WIN32)
qt4_wrap_cpp(MOC_FILES
src/rviz/MapCloudDisplay.h
src/rviz/MapGraphDisplay.h
src/rviz/InfoDisplay.h
)
ELSE()
qt4_wrap_cpp(MOC_FILES
src/rviz/MapCloudDisplay.h
src/rviz/MapGraphDisplay.h
src/rviz/InfoDisplay.h
src/rviz/OrbitOrientedViewController.h
)
ENDIF()
ELSE()
IF(WIN32)
qt5_wrap_cpp(MOC_FILES
src/rviz/MapCloudDisplay.h
src/rviz/MapGraphDisplay.h
src/rviz/InfoDisplay.h
)
ELSE()
qt5_wrap_cpp(MOC_FILES
src/rviz/MapCloudDisplay.h
src/rviz/MapGraphDisplay.h
src/rviz/InfoDisplay.h
src/rviz/OrbitOrientedViewController.h
)
ENDIF()
ENDIF()
# tf:message_filters, mixing boost and Qt signals
IF(WIN32)
set_property(
SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp
PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
)
ELSE()
set_property(
SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
)
ENDIF()
SET(SRC_FILES
src/rviz/MapCloudDisplay.cpp
src/rviz/MapGraphDisplay.cpp
src/rviz/InfoDisplay.cpp
${MOC_FILES}
)
IF(NOT WIN32)
SET(SRC_FILES
${SRC_FILES}
src/rviz/OrbitOrientedViewController.cpp
)
ENDIF(NOT WIN32)
add_library(rtabmap_rviz_plugins
${SRC_FILES}
)
target_link_libraries(rtabmap_rviz_plugins
rtabmap_ros
${Libraries}
)
IF(Qt5_FOUND)
QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
ENDIF(Qt5_FOUND)
add_dependencies(rtabmap_rviz_plugins ${${PROJECT_NAME}_EXPORTED_TARGETS})
ENDIF(rviz_FOUND)
# If costmap_2d is found, add the plugins
IF(costmap_2d_FOUND)
MESSAGE(STATUS "WITH costmap_2d")
IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
include_directories(${costmap_2d_INCLUDE_DIRS})
add_library(rtabmap_costmap_plugins
src/costmap_2d/static_layer.cpp
)
add_library(rtabmap_costmap_plugins2
src/costmap_2d/voxel_layer.cpp
)
target_link_libraries(rtabmap_costmap_plugins
${costmap_2d_LIBRARIES}
)
target_link_libraries(rtabmap_costmap_plugins2
${costmap_2d_LIBRARIES}
)
add_executable(rtabmap_costmap_voxel_markers src/costmap_2d/voxel_markers.cpp)
target_link_libraries(rtabmap_costmap_voxel_markers ${costmap_2d_LIBRARIES})
set_target_properties(rtabmap_costmap_voxel_markers PROPERTIES OUTPUT_NAME "voxel_markers")
ENDIF(costmap_2d_FOUND)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/patrol.py
scripts/objects_to_tags.py
scripts/point_to_tf.py
scripts/transform_to_tf.py
scripts/yaml_to_camera_info.py
scripts/netvlad_tf_ros.py
scripts/wifi_signal_pub.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables and/or libraries for installation
install(TARGETS
rtabmap_sync
rtabmap_ros
rtabmap_plugins
rtabmap
rtabmap_rgbd_odometry
rtabmap_icp_odometry
rtabmap_rgbdicp_odometry
rtabmap_stereo_odometry
rtabmap_map_assembler
rtabmap_map_optimizer
rtabmap_data_player
rtabmap_odom_msg_to_tf
rtabmap_pointcloud_to_depthimage
rtabmap_point_cloud_assembler
rtabmap_camera
rtabmap_rgbd_sync
rtabmap_rgbdx_sync
rtabmap_rgbd_relay
rtabmap_wifi_signal_sub
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
IF(RTABMAP_GUI)
install(TARGETS
rtabmapviz
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
ENDIF(RTABMAP_GUI)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
launch/rtabmap.launch
launch/rgbd_mapping.launch
launch/stereo_mapping.launch
launch/data_recorder.launch
launch/rgbd_mapping_kinect2.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
install(DIRECTORY
launch/config
launch/data
launch/demo
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
## install plugins/nodelets xml
install(FILES
nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
IF(rviz_FOUND)
install(TARGETS
rtabmap_rviz_plugins
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(FILES
rviz_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
ENDIF(rviz_FOUND)
IF(costmap_2d_FOUND)
install(TARGETS
rtabmap_costmap_plugins
rtabmap_costmap_plugins2
rtabmap_costmap_voxel_markers
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(FILES
costmap_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
ENDIF(costmap_2d_FOUND)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_rtabmap.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
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