feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 3.5)
+project(rtabmap_msgs)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+  # issues #1285 #1288
+  find_library(
+    rcutils_LIB NAMES rcutils
+    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
+  )
+endif()
+
+##################
+## Dependencies ##
+##################
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+# declare the message files to generate code for
+set(msg_files
+   "msg/Info.msg"
+   "msg/KeyPoint.msg"
+   "msg/GlobalDescriptor.msg"
+   "msg/ScanDescriptor.msg"
+   "msg/MapData.msg"
+   "msg/MapGraph.msg"
+   "msg/Node.msg"
+   "msg/SensorData.msg"
+   "msg/Link.msg"
+   "msg/LandmarkDetection.msg"
+   "msg/LandmarkDetections.msg"
+   "msg/OdomInfo.msg"
+   "msg/Point2f.msg"
+   "msg/Point3f.msg"
+   "msg/Goal.msg"
+   "msg/RGBDImage.msg"
+   "msg/RGBDImages.msg"
+   "msg/UserData.msg"
+   "msg/GPS.msg"
+   "msg/Path.msg"
+   "msg/EnvSensor.msg"
+   "msg/CameraModel.msg"
+   "msg/CameraModels.msg"
+)
+
+# declare the service files to generate code for
+set(srv_files
+   "srv/GetMap.srv"
+   "srv/GetMap2.srv"
+   "srv/ListLabels.srv"
+   "srv/PublishMap.srv"
+   "srv/ResetPose.srv"
+   "srv/SetGoal.srv"
+   "srv/SetLabel.srv"
+   "srv/RemoveLabel.srv"
+   "srv/GetPlan.srv"
+   "srv/AddLink.srv"
+   "srv/GetNodeData.srv"
+   "srv/GetNodesInRadius.srv"
+   "srv/LoadDatabase.srv"
+   "srv/DetectMoreLoopClosures.srv"
+   "srv/GlobalBundleAdjustment.srv"
+   "srv/CleanupLocalGrids.srv"
+)
+
+## Generate messages and services
+rosidl_generate_interfaces(${PROJECT_NAME}
+   ${msg_files}
+   ${srv_files}
+   DEPENDENCIES builtin_interfaces geometry_msgs std_msgs sensor_msgs std_srvs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()