feat(slam): add rtabmap_ros

rtabmap_ros/rtabmap_viz/CMakeLists.txt

@@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 3.5)
+project(rtabmap_viz)
+
+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(
+    builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
+  )
+  find_library(
+    rcutils_LIB NAMES rcutils
+    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
+  )
+  find_library(
+    crypto_LIB NAMES crypto
+    PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
+  )
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rtabmap_msgs REQUIRED)
+find_package(rtabmap_sync REQUIRED)
+find_package(tf2 REQUIRED)
+
+find_package(RTABMap COMPONENTS gui REQUIRED)
+
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+# libraries
+SET(Libraries
+   cv_bridge
+   geometry_msgs
+   rclcpp
+   std_msgs
+   std_srvs
+   nav_msgs
+   rtabmap_msgs
+   rtabmap_sync
+   tf2
+)
+
+###########
+## Build ##
+###########
+
+add_executable(rtabmap_viz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp include/${PROJECT_NAME}/PreferencesDialogROS.h)
+ament_target_dependencies(rtabmap_viz ${Libraries})
+SET_TARGET_PROPERTIES(
+  rtabmap_viz
+   PROPERTIES
+	   AUTOUIC ON
+     AUTOMOC ON
+     AUTORCC ON
+)
+
+#############
+## Install ##
+#############
+
+install(TARGETS 
+   rtabmap_viz
+   DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()