mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
425 lines
12 KiB
CMake
425 lines
12 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
|
|
project(rtabmap_ros)
|
|
|
|
## 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
|
|
genmsg stereo_msgs move_base_msgs image_geometry
|
|
)
|
|
|
|
# Optional components
|
|
find_package(costmap_2d)
|
|
find_package(octomap_ros)
|
|
find_package(rviz)
|
|
|
|
## System dependencies are found with CMake's conventions
|
|
# find_package(Boost REQUIRED COMPONENTS system)
|
|
find_package(RTABMap 0.12.1 REQUIRED)
|
|
|
|
find_package(OpenCV REQUIRED)
|
|
|
|
#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)
|
|
|
|
## We also use Ogre
|
|
include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
|
|
pkg_check_modules(OGRE OGRE)
|
|
include_directories( ${OGRE_INCLUDE_DIRS} )
|
|
link_directories( ${OGRE_LIBRARY_DIRS} )
|
|
|
|
|
|
## 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
|
|
MapData.msg
|
|
MapGraph.msg
|
|
NodeData.msg
|
|
Link.msg
|
|
OdomInfo.msg
|
|
Point2f.msg
|
|
Point3f.msg
|
|
Goal.msg
|
|
RGBDImage.msg
|
|
UserData.msg
|
|
)
|
|
|
|
## Generate services in the 'srv' folder
|
|
add_service_files(
|
|
FILES
|
|
GetMap.srv
|
|
ListLabels.srv
|
|
PublishMap.srv
|
|
ResetPose.srv
|
|
SetGoal.srv
|
|
SetLabel.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_ros_FOUND)
|
|
SET(optional_dependencies ${optional_dependencies} octomap_ros)
|
|
ENDIF(octomap_ros_FOUND)
|
|
IF(rviz_FOUND)
|
|
SET(optional_dependencies ${optional_dependencies} rviz)
|
|
ENDIF(rviz_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
|
|
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}
|
|
${catkin_INCLUDE_DIRS}
|
|
)
|
|
|
|
# libraries
|
|
SET(Libraries
|
|
${OpenCV_LIBRARIES}
|
|
${catkin_LIBRARIES}
|
|
${RTABMap_LIBRARIES}
|
|
)
|
|
|
|
SET(rtabmap_ros_lib_src
|
|
src/nodelets/rgbd_odometry.cpp
|
|
src/nodelets/stereo_odometry.cpp
|
|
src/nodelets/rgbdicp_odometry.cpp
|
|
src/nodelets/icp_odometry.cpp
|
|
src/nodelets/data_throttle.cpp
|
|
src/nodelets/stereo_throttle.cpp
|
|
src/nodelets/data_odom_sync.cpp
|
|
src/nodelets/point_cloud_xyzrgb.cpp
|
|
src/nodelets/point_cloud_xyz.cpp
|
|
src/nodelets/disparity_to_depth.cpp
|
|
src/nodelets/obstacles_detection.cpp
|
|
src/nodelets/obstacles_detection_old.cpp
|
|
src/nodelets/point_cloud_aggregator.cpp
|
|
src/nodelets/undistort_depth.cpp
|
|
src/nodelets/rgbd_sync.cpp
|
|
src/OdometryROS.cpp
|
|
src/MsgConversion.cpp
|
|
src/MapsManager.cpp
|
|
src/CommonDataSubscriber.cpp
|
|
src/CoreWrapper.cpp
|
|
src/impl/CommonDataSubscriberDepth.cpp
|
|
src/impl/CommonDataSubscriberStereo.cpp
|
|
src/impl/CommonDataSubscriberRGBD.cpp
|
|
src/impl/CommonDataSubscriberRGBD2.cpp
|
|
)
|
|
|
|
# If costmap_2d is found, add the plugin
|
|
IF(costmap_2d_FOUND)
|
|
MESSAGE(STATUS "WITH costmap_2d")
|
|
include_directories(${costmap_2d_INCLUDE_DIRS})
|
|
SET(Libraries
|
|
${costmap_2d_LIBRARIES}
|
|
${Libraries}
|
|
)
|
|
SET(rtabmap_ros_lib_src
|
|
src/costmap_2d/static_layer.cpp
|
|
${rtabmap_ros_lib_src}
|
|
)
|
|
ENDIF(costmap_2d_FOUND)
|
|
|
|
# If octomap is found, add definition
|
|
IF(octomap_ros_FOUND)
|
|
MESSAGE(STATUS "WITH octomap")
|
|
include_directories(
|
|
${octomap_ros_INCLUDE_DIRS}
|
|
)
|
|
SET(Libraries
|
|
${octomap_ros_LIBRARIES}
|
|
${Libraries}
|
|
)
|
|
ADD_DEFINITIONS("-DWITH_OCTOMAP_ROS")
|
|
ENDIF(octomap_ros_FOUND)
|
|
|
|
IF(QT4_FOUND OR Qt5_FOUND)
|
|
SET(Libraries
|
|
${Libraries}
|
|
${QT_LIBRARIES}
|
|
)
|
|
ENDIF(QT4_FOUND OR Qt5_FOUND)
|
|
|
|
# If rviz is found, add plugins
|
|
IF(rviz_FOUND)
|
|
MESSAGE(STATUS "WITH rviz")
|
|
include_directories(
|
|
${rviz_INCLUDE_DIRS}
|
|
)
|
|
SET(Libraries
|
|
${Libraries}
|
|
${rviz_LIBRARIES}
|
|
${rviz_DEFAULT_PLUGIN_LIBRARIES}
|
|
)
|
|
|
|
## RVIZ plugin
|
|
IF(QT4_FOUND)
|
|
qt4_wrap_cpp(MOC_FILES
|
|
src/rviz/MapCloudDisplay.h
|
|
src/rviz/MapGraphDisplay.h
|
|
src/rviz/InfoDisplay.h
|
|
src/rviz/OrbitOrientedViewController.h
|
|
)
|
|
ELSE()
|
|
qt5_wrap_cpp(MOC_FILES
|
|
src/rviz/MapCloudDisplay.h
|
|
src/rviz/MapGraphDisplay.h
|
|
src/rviz/InfoDisplay.h
|
|
src/rviz/OrbitOrientedViewController.h
|
|
)
|
|
ENDIF()
|
|
|
|
# tf:message_filters, mixing boost and Qt signals
|
|
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
|
|
)
|
|
|
|
SET(rtabmap_ros_lib_src
|
|
${rtabmap_ros_lib_src}
|
|
src/rviz/MapCloudDisplay.cpp
|
|
src/rviz/MapGraphDisplay.cpp
|
|
src/rviz/InfoDisplay.cpp
|
|
src/rviz/OrbitOrientedViewController.cpp
|
|
${MOC_FILES}
|
|
)
|
|
ENDIF(rviz_FOUND)
|
|
|
|
############################
|
|
## Declare a cpp library
|
|
############################
|
|
add_library(rtabmap_ros
|
|
${rtabmap_ros_lib_src}
|
|
)
|
|
|
|
target_link_libraries(rtabmap_ros
|
|
${Libraries}
|
|
${OGRE_LIBRARIES}
|
|
)
|
|
IF(Qt5_FOUND)
|
|
QT5_USE_MODULES(rtabmap_ros Widgets Core Gui)
|
|
ENDIF(Qt5_FOUND)
|
|
add_dependencies(rtabmap_ros ${${PROJECT_NAME}_EXPORTED_TARGETS})
|
|
|
|
add_executable(rtabmap src/CoreNode.cpp)
|
|
target_link_libraries(rtabmap ${Libraries})
|
|
|
|
add_executable(rgbd_odometry src/RGBDOdometryNode.cpp)
|
|
target_link_libraries(rgbd_odometry ${Libraries})
|
|
|
|
add_executable(stereo_odometry src/StereoOdometryNode.cpp)
|
|
target_link_libraries(stereo_odometry ${Libraries})
|
|
|
|
add_executable(rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
|
|
target_link_libraries(rgbdicp_odometry ${Libraries})
|
|
|
|
add_executable(icp_odometry src/ICPOdometryNode.cpp)
|
|
target_link_libraries(icp_odometry ${Libraries})
|
|
|
|
add_executable(map_optimizer src/MapOptimizerNode.cpp)
|
|
target_link_libraries(map_optimizer rtabmap_ros ${Libraries})
|
|
|
|
add_executable(map_assembler src/MapAssemblerNode.cpp)
|
|
target_link_libraries(map_assembler rtabmap_ros ${Libraries})
|
|
|
|
add_executable(wifi_signal_pub src/WifiSignalPubNode.cpp)
|
|
target_link_libraries(wifi_signal_pub rtabmap_ros ${Libraries})
|
|
add_executable(wifi_signal_sub src/WifiSignalSubNode.cpp)
|
|
target_link_libraries(wifi_signal_sub rtabmap_ros ${Libraries})
|
|
|
|
add_executable(camera src/CameraNode.cpp)
|
|
add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
|
|
target_link_libraries(camera ${Libraries})
|
|
|
|
add_executable(stereo_camera src/StereoCameraNode.cpp)
|
|
target_link_libraries(stereo_camera rtabmap_ros ${Libraries})
|
|
|
|
IF(RTABMAP_GUI)
|
|
add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
|
|
target_link_libraries(rtabmapviz rtabmap_ros ${QT_LIBRARIES} ${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(data_player src/DbPlayerNode.cpp)
|
|
target_link_libraries(data_player rtabmap_ros ${QT_LIBRARIES} ${Libraries})
|
|
|
|
add_executable(odom_msg_to_tf src/OdomMsgToTFNode.cpp)
|
|
target_link_libraries(odom_msg_to_tf rtabmap_ros ${Libraries})
|
|
|
|
add_executable(pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
|
|
target_link_libraries(pointcloud_to_depthimage rtabmap_ros ${Libraries})
|
|
|
|
#############
|
|
## 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
|
|
# install(PROGRAMS
|
|
# scripts/my_python_script
|
|
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
# )
|
|
|
|
## Mark executables and/or libraries for installation
|
|
IF(RTABMAP_GUI)
|
|
install(TARGETS
|
|
rtabmap_ros
|
|
rtabmap
|
|
rtabmapviz
|
|
rgbd_odometry
|
|
rgbdicp_odometry
|
|
stereo_odometry
|
|
map_assembler
|
|
map_optimizer
|
|
data_player
|
|
camera
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
ELSE() # without rtabmapviz
|
|
install(TARGETS
|
|
rtabmap_ros
|
|
rtabmap
|
|
rgbd_odometry
|
|
rgbdicp_odometry
|
|
stereo_odometry
|
|
map_assembler
|
|
map_optimizer
|
|
data_player
|
|
camera
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
ENDIF()
|
|
|
|
## Mark cpp header files for installation
|
|
install(DIRECTORY include/${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
|
|
plugin_description.xml
|
|
costmap_plugins.xml
|
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
)
|
|
IF(costmap_2d_FOUND)
|
|
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)
|
|
|