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This commit is contained in:
HiepLM
2025-12-30 15:46:20 +07:00
parent 7b27905ad4
commit dc652575d1
69 changed files with 3834 additions and 22719 deletions
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14
Localizations/Packages/loc_base/CMakeLists.txt
View File

@@ -154,6 +154,13 @@ target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
yaml-cpp
)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(${PROJECT_NAME} PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
@@ -173,6 +180,13 @@ add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catk
target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES}
)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(${PROJECT_NAME}_node PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
#############
## Install ##

4
Localizations/Packages/loc_base/include/loc_base/loc_base.h
View File

@@ -29,7 +29,7 @@ namespace loc_base
* @param nh A Node handle
* @param tf A poiter tranform listen
*/
void initialize(ros::NodeHandle nh, TFListenerPtr tf) override;
void initialize(ros::NodeHandle nh, std::shared_ptr<tf2_ros::Buffer> tf) override;
/**
* @brief Loading a Activate Map File name
@@ -147,7 +147,7 @@ namespace loc_base
ros::NodeHandle nh_;
ros::NodeHandle private_nh_;
ros::Publisher init_pub_;
static TFListenerPtr tf_;
static std::shared_ptr<tf2_ros::Buffer> tf_;
XmlRpc::XmlRpcValue plugins_;
// std::map<std::string, std::string> map_file_vt_;

4
Localizations/Packages/loc_base/src/loc_base.cpp
View File

@@ -8,7 +8,7 @@
std::shared_ptr<amcl::Amcl> loc_base::LocBase::localization_althm_ = nullptr;
std::shared_ptr<slam_toolbox::AsynchronousSlamToolbox> loc_base::LocBase::mapping_althm_ = nullptr;
TFListenerPtr loc_base::LocBase::tf_;
std::shared_ptr<tf2_ros::Buffer> loc_base::LocBase::tf_;
std::string loc_base::LocBase::base_frame_id_;
std::string loc_base::LocBase::global_frame_id_;
std::string* loc_base::LocBase::working_dir_ptr_ = NULL;
@@ -38,7 +38,7 @@ void loc_base::LocBase::cleanup() {
loc_base::LocBase::mapping_althm_.reset();
}
void loc_base::LocBase::initialize(ros::NodeHandle nh, TFListenerPtr tf)
void loc_base::LocBase::initialize(ros::NodeHandle nh, std::shared_ptr<tf2_ros::Buffer> tf)
{
if (!initialized_)
{

77
Localizations/Packages/slam_toolbox/slam_toolbox/CMakeLists.txt
View File

@@ -98,39 +98,116 @@ target_link_libraries(ceres_solver_plugin ${catkin_LIBRARIES}
${Boost_LIBRARIES}
${TBB_LIBRARIES}
)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(ceres_solver_plugin PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
#### Tool lib for mapping
add_library(toolbox_common src/slam_toolbox_common.cpp src/map_saver.cpp src/loop_closure_assistant.cpp src/laser_utils.cpp src/slam_mapper.cpp)
target_link_libraries(toolbox_common kartoSlamToolbox ${catkin_LIBRARIES} ${Boost_LIBRARIES})
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(toolbox_common PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
#### Mapping executibles
add_library(async_slam_toolbox src/slam_toolbox_async.cpp)
add_dependencies(async_slam_toolbox ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(async_slam_toolbox toolbox_common kartoSlamToolbox ${catkin_LIBRARIES} ${Boost_LIBRARIES})
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(async_slam_toolbox PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
add_executable(async_slam_toolbox_node src/slam_toolbox_async_node.cpp )
target_link_libraries(async_slam_toolbox_node async_slam_toolbox)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(async_slam_toolbox_node PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
add_library(sync_slam_toolbox src/slam_toolbox_sync.cpp)
add_dependencies(sync_slam_toolbox ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(sync_slam_toolbox toolbox_common kartoSlamToolbox ${catkin_LIBRARIES} ${Boost_LIBRARIES})
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(sync_slam_toolbox PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
add_executable(sync_slam_toolbox_node src/slam_toolbox_sync_node.cpp )
target_link_libraries(sync_slam_toolbox_node sync_slam_toolbox)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(sync_slam_toolbox_node PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
add_library(localization_slam_toolbox src/slam_toolbox_localization.cpp)
add_dependencies(localization_slam_toolbox ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(localization_slam_toolbox toolbox_common kartoSlamToolbox ${catkin_LIBRARIES} ${Boost_LIBRARIES})
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(localization_slam_toolbox PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
add_executable(localization_slam_toolbox_node src/slam_toolbox_localization_node.cpp )
target_link_libraries(localization_slam_toolbox_node localization_slam_toolbox)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(localization_slam_toolbox_node PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
add_library(lifelong_slam_toolbox src/experimental/slam_toolbox_lifelong.cpp)
add_dependencies(lifelong_slam_toolbox ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(lifelong_slam_toolbox toolbox_common kartoSlamToolbox ${catkin_LIBRARIES} ${Boost_LIBRARIES})
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(lifelong_slam_toolbox PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
add_executable(lifelong_slam_toolbox_node src/experimental/slam_toolbox_lifelong_node.cpp )
target_link_libraries(lifelong_slam_toolbox_node lifelong_slam_toolbox)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(lifelong_slam_toolbox_node PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
#### Merging maps tool
add_executable(merge_maps_kinematic src/merge_maps_kinematic.cpp)
target_link_libraries(merge_maps_kinematic toolbox_common)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(merge_maps_kinematic PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
#### testing
#if(CATKIN_ENABLE_TESTING)