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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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77
Localizations/Packages/slam_toolbox/slam_toolbox/CMakeLists.txt
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@@ -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)