feat(slam): add rtabmap_ros

rtabmap/tools/LidarViewer/CMakeLists.txt

@@ -0,0 +1,32 @@
+
+IF(NOT WITH_QT)
+   # visualization module required
+   FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
+ENDIF(NOT WITH_QT)
+
+SET(INCLUDE_DIRS
+    ${PROJECT_BINARY_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${OpenCV_LIBRARIES} 
+	${PCL_LIBRARIES}
+)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(lidar_viewer main.cpp)
+TARGET_LINK_LIBRARIES(lidar_viewer rtabmap_core rtabmap_utilite ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( lidar_viewer 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-lidar_viewer)
+  
+INSTALL(TARGETS lidar_viewer
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)