mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
Lucas Walterandmatlabbe
49cbce4874
* build rtabmap_viz with Qt5 * eliminate circular dependency (nothing can depend on rtabmap_ros that rtabmap_ros depends on), and resolve 'Unknown CMake command catkin_package' with catkin build * more dependency cleanup but can't get rid of rtabmap_demos circular dependency on rtabmap_legacy * Update CMakeLists.txt --------- Co-authored-by: matlabbe <[email protected]>
60 lines
1.5 KiB
CMake
60 lines
1.5 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_viz)
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge geometry_msgs std_msgs std_srvs nav_msgs rtabmap_msgs rtabmap_sync tf
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)
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###################################
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## catkin specific configuration ##
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###################################
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS cv_bridge geometry_msgs std_msgs std_srvs nav_msgs rtabmap_msgs rtabmap_sync tf
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)
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# catkin is not using cmake targets for dependencies,
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# so we should explcitly look for Qt to get compilation
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# flags (-fPIC missing)
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FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
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IF(NOT Qt5_FOUND)
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FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
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INCLUDE(${QT_USE_FILE})
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ENDIF(NOT Qt5_FOUND)
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###########
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## Build ##
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###########
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# include_directories(include)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${catkin_INCLUDE_DIRS}
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)
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add_executable(rtabmap_viz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
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IF(Qt5_FOUND)
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QT5_USE_MODULES(rtabmap_viz Widgets Core Gui)
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ENDIF(Qt5_FOUND)
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target_link_libraries(rtabmap_viz ${catkin_LIBRARIES})
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#############
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## Install ##
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#############
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install(TARGETS
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rtabmap_viz
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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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)
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