initial commit

2022-08-05 08:23:25 +03:00
commit 5ecdc6abcf
387 changed files with 3010095 additions and 0 deletions
--- a/ov_msckf/cmake/ROS2.cmake
+++ b/ov_msckf/cmake/ROS2.cmake
@@ -0,0 +1,115 @@
+cmake_minimum_required(VERSION 3.3)
+
+# Find ROS build system
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(ov_core REQUIRED)
+find_package(ov_init REQUIRED)
+
+# Describe ROS project
+option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
+if (NOT ENABLE_ROS)
+    message(FATAL_ERROR "Build with ROS1.cmake if you don't have ROS.")
+endif ()
+add_definitions(-DROS_AVAILABLE=2)
+
+# Include our header files
+include_directories(
+        src
+        ${EIGEN3_INCLUDE_DIR}
+        ${Boost_INCLUDE_DIRS}
+        ${CERES_INCLUDE_DIRS}
+)
+
+# Set link libraries used by all binaries
+list(APPEND thirdparty_libraries
+        ${Boost_LIBRARIES}
+        ${CERES_LIBRARIES}
+        ${OpenCV_LIBRARIES}
+)
+list(APPEND ament_libraries
+        rclcpp
+        tf2_ros
+	tf2_geometry_msgs
+        std_msgs
+        geometry_msgs
+        sensor_msgs
+        nav_msgs
+        cv_bridge
+        image_transport
+        ov_core
+        ov_init
+)
+
+##################################################
+# Make the shared library
+##################################################
+
+list(APPEND LIBRARY_SOURCES
+        src/dummy.cpp
+        src/sim/Simulator.cpp
+        src/state/State.cpp
+        src/state/StateHelper.cpp
+        src/state/Propagator.cpp
+        src/core/VioManager.cpp
+        src/update/UpdaterHelper.cpp
+        src/update/UpdaterMSCKF.cpp
+        src/update/UpdaterSLAM.cpp
+        src/update/UpdaterZeroVelocity.cpp
+)
+list(APPEND LIBRARY_SOURCES src/ros/ROS2Visualizer.cpp)
+file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
+add_library(ov_msckf_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
+ament_target_dependencies(ov_msckf_lib ${ament_libraries})
+target_link_libraries(ov_msckf_lib ${thirdparty_libraries})
+target_include_directories(ov_msckf_lib PUBLIC src/)
+install(TARGETS ov_msckf_lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include
+)
+install(DIRECTORY src/
+        DESTINATION include
+        FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+)
+ament_export_include_directories(include)
+ament_export_libraries(ov_msckf_lib)
+
+##################################################
+# Make binary files!
+##################################################
+
+add_executable(run_subscribe_msckf src/run_subscribe_msckf.cpp)
+ament_target_dependencies(run_subscribe_msckf ${ament_libraries})
+target_link_libraries(run_subscribe_msckf ov_msckf_lib ${thirdparty_libraries})
+install(TARGETS run_subscribe_msckf DESTINATION lib/${PROJECT_NAME})
+
+add_executable(run_simulation src/run_simulation.cpp)
+ament_target_dependencies(run_simulation ${ament_libraries})
+target_link_libraries(run_simulation ov_msckf_lib ${thirdparty_libraries})
+install(TARGETS run_simulation DESTINATION lib/${PROJECT_NAME})
+
+add_executable(test_sim_meas src/test_sim_meas.cpp)
+ament_target_dependencies(test_sim_meas ${ament_libraries})
+target_link_libraries(test_sim_meas ov_msckf_lib ${thirdparty_libraries})
+install(TARGETS test_sim_meas DESTINATION lib/${PROJECT_NAME})
+
+add_executable(test_sim_repeat src/test_sim_repeat.cpp)
+ament_target_dependencies(test_sim_repeat ${ament_libraries})
+target_link_libraries(test_sim_repeat ov_msckf_lib ${thirdparty_libraries})
+install(TARGETS test_sim_repeat DESTINATION lib/${PROJECT_NAME})
+
+# Install launch and config directories
+install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch/)
+install(DIRECTORY ../config/ DESTINATION share/${PROJECT_NAME}/config/)
+
+# finally define this as the package
+ament_package()