feat(slam): add rtabmap_ros

rtabmap/examples/WifiMapping/CMakeLists.txt

@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.14)
+
+if(POLICY CMP0020)
+    cmake_policy(SET CMP0020 NEW)
+endif()
+
+IF(DEFINED PROJECT_NAME)
+   set(internal TRUE)
+ENDIF(DEFINED PROJECT_NAME)
+
+if(NOT internal)
+	# external build
+	PROJECT( MyProject )
+	
+	FIND_PACKAGE(RTABMap REQUIRED)
+endif()
+
+IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND)
+	SET(moc_srcs MapBuilder.h MapBuilderWifi.h)
+ENDIF()
+
+SET(srcs
+    main.cpp)
+
+set(LIBRARIES "")
+
+IF(APPLE)
+    FIND_LIBRARY(CoreWLAN_LIBRARY CoreWLAN)
+    FIND_LIBRARY(Foundation_LIBRARY Foundation)
+    MARK_AS_ADVANCED(CoreWLAN_LIBRARY Foundation_LIBRARY)
+    SET(LIBRARIES
+	    ${LIBRARIES}
+	    ${CoreWLAN_LIBRARY}
+	    ${Foundation_LIBRARY}
+	)
+	SET(srcs
+	    ${srcs}
+	    WifiOSX.mm
+	)
+ENDIF(APPLE)
+
+ADD_EXECUTABLE(wifi_mapping ${srcs} ${moc_srcs})
+TARGET_LINK_LIBRARIES(wifi_mapping rtabmap::gui ${LIBRARIES})
+
+SET_TARGET_PROPERTIES(
+     wifi_mapping
+   PROPERTIES
+	 AUTOUIC ON
+     AUTOMOC ON
+     AUTORCC ON
+)
+
+if(internal)
+  SET_TARGET_PROPERTIES( wifi_mapping 
+    PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-wifi_mapping)
+endif(internal)