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167
ov_msckf/cmake/ROS1.cmake
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167
ov_msckf/cmake/ROS1.cmake
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cmake_minimum_required(VERSION 3.3)
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# Find ROS build system
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find_package(catkin QUIET COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs visualization_msgs image_transport cv_bridge ov_core ov_init)
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# Describe ROS project
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option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
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if (catkin_FOUND AND ENABLE_ROS)
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add_definitions(-DROS_AVAILABLE=1)
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catkin_package(
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CATKIN_DEPENDS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs visualization_msgs image_transport cv_bridge ov_core ov_init
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INCLUDE_DIRS src/
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LIBRARIES ov_msckf_lib
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)
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else ()
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add_definitions(-DROS_AVAILABLE=0)
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message(WARNING "BUILDING WITHOUT ROS!")
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include(GNUInstallDirs)
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set(CATKIN_PACKAGE_LIB_DESTINATION "${CMAKE_INSTALL_LIBDIR}")
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set(CATKIN_PACKAGE_BIN_DESTINATION "${CMAKE_INSTALL_BINDIR}")
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set(CATKIN_GLOBAL_INCLUDE_DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}")
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endif ()
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# Include our header files
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include_directories(
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src
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${EIGEN3_INCLUDE_DIR}
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${Boost_INCLUDE_DIRS}
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${CERES_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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# Set link libraries used by all binaries
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list(APPEND thirdparty_libraries
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${Boost_LIBRARIES}
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${OpenCV_LIBRARIES}
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${CERES_LIBRARIES}
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${catkin_LIBRARIES}
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)
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# If we are not building with ROS then we need to manually link to its headers
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# This isn't that elegant of a way, but this at least allows for building without ROS
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# If we had a root cmake we could do this: https://stackoverflow.com/a/11217008/7718197
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# But since we don't we need to basically build all the cpp / h files explicitly :(
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if (NOT catkin_FOUND OR NOT ENABLE_ROS)
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message(STATUS "MANUALLY LINKING TO OV_CORE LIBRARY....")
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include_directories(${CMAKE_SOURCE_DIR}/../ov_core/src/)
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file(GLOB_RECURSE OVCORE_LIBRARY_SOURCES "${CMAKE_SOURCE_DIR}/../ov_core/src/*.cpp")
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list(FILTER OVCORE_LIBRARY_SOURCES EXCLUDE REGEX ".*test_webcam\\.cpp$")
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list(FILTER OVCORE_LIBRARY_SOURCES EXCLUDE REGEX ".*test_tracking\\.cpp$")
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list(APPEND LIBRARY_SOURCES ${OVCORE_LIBRARY_SOURCES})
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file(GLOB_RECURSE OVCORE_LIBRARY_HEADERS "${CMAKE_SOURCE_DIR}/../ov_core/src/*.h")
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list(APPEND LIBRARY_HEADERS ${OVCORE_LIBRARY_HEADERS})
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message(STATUS "MANUALLY LINKING TO OV_INIT LIBRARY....")
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include_directories(${CMAKE_SOURCE_DIR}/../ov_init/src/)
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file(GLOB_RECURSE OVINIT_LIBRARY_SOURCES "${CMAKE_SOURCE_DIR}/../ov_init/src/*.cpp")
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list(FILTER OVINIT_LIBRARY_SOURCES EXCLUDE REGEX ".*test_dynamic_init\\.cpp$")
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list(FILTER OVINIT_LIBRARY_SOURCES EXCLUDE REGEX ".*test_dynamic_mle\\.cpp$")
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list(FILTER OVINIT_LIBRARY_SOURCES EXCLUDE REGEX ".*test_simulation\\.cpp$")
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list(FILTER OVINIT_LIBRARY_SOURCES EXCLUDE REGEX ".*Simulator\\.cpp$")
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list(APPEND LIBRARY_SOURCES ${OVINIT_LIBRARY_SOURCES})
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file(GLOB_RECURSE OVINIT_LIBRARY_HEADERS "${CMAKE_SOURCE_DIR}/../ov_init/src/*.h")
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list(FILTER OVINIT_LIBRARY_HEADERS EXCLUDE REGEX ".*Simulator\\.h$")
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list(APPEND LIBRARY_HEADERS ${OVINIT_LIBRARY_HEADERS})
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endif ()
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##################################################
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# Make the shared library
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##################################################
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list(APPEND LIBRARY_SOURCES
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src/dummy.cpp
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src/sim/Simulator.cpp
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src/state/State.cpp
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src/state/StateHelper.cpp
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src/state/Propagator.cpp
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src/core/VioManager.cpp
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src/update/UpdaterHelper.cpp
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src/update/UpdaterMSCKF.cpp
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src/update/UpdaterSLAM.cpp
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src/update/UpdaterZeroVelocity.cpp
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)
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include_directories(/home/pi/work_drivecast/slams/ORB-SLAM3_Linux/Thirdparty/Sophus)
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if (catkin_FOUND AND ENABLE_ROS)
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list(APPEND LIBRARY_SOURCES src/ros/ROS1Visualizer.cpp)
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endif ()
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file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
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add_library(ov_msckf_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
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target_link_libraries(ov_msckf_lib ${thirdparty_libraries})
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target_include_directories(ov_msckf_lib PUBLIC src/)
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install(TARGETS ov_msckf_lib
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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 src/
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DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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)
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##################################################
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# Make binary files!
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##################################################
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if (catkin_FOUND AND ENABLE_ROS)
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add_executable(ros1_serial_msckf src/ros1_serial_msckf.cpp)
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target_link_libraries(ros1_serial_msckf ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS ros1_serial_msckf
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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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add_executable(run_subscribe_msckf src/run_subscribe_msckf.cpp)
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target_link_libraries(run_subscribe_msckf ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS run_subscribe_msckf
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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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endif ()
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add_executable(run_simulation src/run_simulation.cpp)
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target_link_libraries(run_simulation ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS run_simulation
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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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add_executable(test_sim_meas src/test_sim_meas.cpp)
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target_link_libraries(test_sim_meas ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS test_sim_meas
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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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add_executable(test_sim_repeat src/test_sim_repeat.cpp)
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target_link_libraries(test_sim_repeat ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS test_sim_repeat
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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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##################################################
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# Launch files!
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##################################################
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
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115
ov_msckf/cmake/ROS2.cmake
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115
ov_msckf/cmake/ROS2.cmake
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@@ -0,0 +1,115 @@
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cmake_minimum_required(VERSION 3.3)
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# Find ROS build system
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(ov_core REQUIRED)
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find_package(ov_init REQUIRED)
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# Describe ROS project
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option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
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if (NOT ENABLE_ROS)
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message(FATAL_ERROR "Build with ROS1.cmake if you don't have ROS.")
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endif ()
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add_definitions(-DROS_AVAILABLE=2)
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# Include our header files
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include_directories(
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src
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${EIGEN3_INCLUDE_DIR}
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${Boost_INCLUDE_DIRS}
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${CERES_INCLUDE_DIRS}
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)
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# Set link libraries used by all binaries
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list(APPEND thirdparty_libraries
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${Boost_LIBRARIES}
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${CERES_LIBRARIES}
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${OpenCV_LIBRARIES}
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)
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list(APPEND ament_libraries
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rclcpp
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tf2_ros
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tf2_geometry_msgs
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std_msgs
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geometry_msgs
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sensor_msgs
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nav_msgs
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cv_bridge
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image_transport
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ov_core
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ov_init
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)
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##################################################
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# Make the shared library
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##################################################
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list(APPEND LIBRARY_SOURCES
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src/dummy.cpp
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src/sim/Simulator.cpp
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src/state/State.cpp
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src/state/StateHelper.cpp
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src/state/Propagator.cpp
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src/core/VioManager.cpp
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src/update/UpdaterHelper.cpp
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src/update/UpdaterMSCKF.cpp
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src/update/UpdaterSLAM.cpp
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src/update/UpdaterZeroVelocity.cpp
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)
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list(APPEND LIBRARY_SOURCES src/ros/ROS2Visualizer.cpp)
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file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
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add_library(ov_msckf_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
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ament_target_dependencies(ov_msckf_lib ${ament_libraries})
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target_link_libraries(ov_msckf_lib ${thirdparty_libraries})
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target_include_directories(ov_msckf_lib PUBLIC src/)
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install(TARGETS ov_msckf_lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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PUBLIC_HEADER DESTINATION include
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)
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install(DIRECTORY src/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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)
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ament_export_include_directories(include)
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ament_export_libraries(ov_msckf_lib)
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##################################################
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# Make binary files!
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##################################################
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add_executable(run_subscribe_msckf src/run_subscribe_msckf.cpp)
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ament_target_dependencies(run_subscribe_msckf ${ament_libraries})
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target_link_libraries(run_subscribe_msckf ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS run_subscribe_msckf DESTINATION lib/${PROJECT_NAME})
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add_executable(run_simulation src/run_simulation.cpp)
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ament_target_dependencies(run_simulation ${ament_libraries})
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target_link_libraries(run_simulation ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS run_simulation DESTINATION lib/${PROJECT_NAME})
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add_executable(test_sim_meas src/test_sim_meas.cpp)
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ament_target_dependencies(test_sim_meas ${ament_libraries})
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target_link_libraries(test_sim_meas ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS test_sim_meas DESTINATION lib/${PROJECT_NAME})
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add_executable(test_sim_repeat src/test_sim_repeat.cpp)
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ament_target_dependencies(test_sim_repeat ${ament_libraries})
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target_link_libraries(test_sim_repeat ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS test_sim_repeat DESTINATION lib/${PROJECT_NAME})
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# Install launch and config directories
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install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch/)
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install(DIRECTORY ../config/ DESTINATION share/${PROJECT_NAME}/config/)
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# finally define this as the package
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ament_package()
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