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Pulls out RViz support into a separate package. (cartographer-project#66
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,110 @@ | ||
| # Copyright 2016 The Cartographer Authors | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
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| cmake_minimum_required(VERSION 2.8) | ||
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| project(cartographer_rviz) | ||
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| set(PACKAGE_DEPENDENCIES | ||
| cartographer_ros_msgs | ||
| eigen_conversions | ||
| roscpp | ||
| rviz | ||
| ) | ||
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| set(CMAKE_CXX_FLAGS "-pthread -std=c++11 -Wreorder") | ||
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| if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "") | ||
| set(CMAKE_BUILD_TYPE Release) | ||
| endif() | ||
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| if(CMAKE_BUILD_TYPE STREQUAL "Release") | ||
| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG") | ||
| elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo") | ||
| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG") | ||
| elseif(CMAKE_BUILD_TYPE STREQUAL "Debug") | ||
| message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.") | ||
| else() | ||
| message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}") | ||
| endif() | ||
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| message(STATUS "Build type: ${CMAKE_BUILD_TYPE}") | ||
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| find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES}) | ||
| include_directories(${catkin_INCLUDE_DIRS}) | ||
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| catkin_package( | ||
| CATKIN_DEPENDS | ||
| message_runtime | ||
| ${PACKAGE_DEPENDENCIES} | ||
| ) | ||
|
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| find_package(cartographer REQUIRED) | ||
| include_directories(${CARTOGRAPHER_INCLUDE_DIRS}) | ||
| link_directories(${CARTOGRAPHER_LIBRARY_DIRS}) | ||
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| find_package(ZLIB REQUIRED) | ||
| include_directories(${ZLIB_INCLUDE_DIRS}) | ||
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| set(CMAKE_AUTOMOC ON) | ||
| if(rviz_QT_VERSION VERSION_LESS "5") | ||
| message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") | ||
| find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) | ||
| include(${QT_USE_FILE}) | ||
| else() | ||
| message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") | ||
| find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) | ||
| set(QT_LIBRARIES Qt5::Widgets) | ||
| endif() | ||
| add_definitions(-DQT_NO_KEYWORDS) | ||
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| find_package(Boost REQUIRED | ||
| COMPONENTS | ||
| system | ||
| iostreams | ||
| ) | ||
| add_definitions(${BOOST_DEFINITIONS}) | ||
| include_directories(${Boost_INCLUDE_DIRS}) | ||
| link_directories(${Boost_LIBRARY_DIRS}) | ||
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| add_library(cartographer_rviz_submaps_visualization | ||
| src/drawable_submap.cc | ||
| src/drawable_submap.h | ||
| src/submaps_display.cc | ||
| src/submaps_display.h | ||
| ) | ||
| target_link_libraries(cartographer_rviz_submaps_visualization | ||
| ${Boost_LIBRARIES} | ||
| ${CARTOGRAPHER_LIBRARIES} | ||
| ${QT_LIBRARIES} | ||
| ${ZLIB_LIBRARIES} | ||
| ${catkin_LIBRARIES} | ||
| ) | ||
| add_dependencies(cartographer_rviz_submaps_visualization | ||
| ${catkin_EXPORTED_TARGETS} | ||
| ) | ||
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| install(TARGETS cartographer_rviz_submaps_visualization | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
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| install(FILES rviz_plugin_description.xml | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| ) | ||
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| install(DIRECTORY ogre_media/ | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ogre_media | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| <?xml version="1.0"?> | ||
| <!-- | ||
| Copyright 2016 The Cartographer Authors | ||
| Licensed under the Apache License, Version 2.0 (the "License"); | ||
| you may not use this file except in compliance with the License. | ||
| You may obtain a copy of the License at | ||
| http://www.apache.org/licenses/LICENSE-2.0 | ||
| Unless required by applicable law or agreed to in writing, software | ||
| distributed under the License is distributed on an "AS IS" BASIS, | ||
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| See the License for the specific language governing permissions and | ||
| limitations under the License. | ||
| --> | ||
|
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| <package format="2"> | ||
| <name>cartographer_rviz</name> | ||
| <version>1.0.0</version> | ||
| <description> | ||
| Cartographer is a system that provides real-time simultaneous localization | ||
| and mapping SLAM across multiple platforms and sensor configurations. This | ||
| package provides Cartographer's RViz integration. | ||
| </description> | ||
| <maintainer email="[email protected]"> | ||
| The Cartographer Authors | ||
| </maintainer> | ||
| <license>Apache 2.0</license> | ||
|
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| <url>https://github.com/googlecartographer/cartographer_ros</url> | ||
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| <buildtool_depend>catkin</buildtool_depend> | ||
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| <build_depend>g++-static</build_depend> | ||
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| <depend>cartographer</depend> | ||
| <depend>cartographer_ros_msgs</depend> | ||
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| <depend>eigen_conversions</depend> | ||
| <depend>libqt5-core</depend> | ||
| <depend>libqt5-gui</depend> | ||
| <depend>libqt5-widgets</depend> | ||
| <depend>message_runtime</depend> | ||
| <depend>qtbase5-dev</depend> | ||
| <depend>roscpp</depend> | ||
| <depend>roslib</depend> | ||
| <depend>rviz</depend> | ||
|
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| <export> | ||
| <rviz plugin="${prefix}/rviz_plugin_description.xml" /> | ||
| </export> | ||
| </package> |
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