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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(kimera_vio_ros)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
find_package(catkin_simple REQUIRED)
### System Dependencies
find_package(Boost REQUIRED COMPONENTS
serialization system filesystem thread date_time regex timer chrono)
if(NOT TARGET Boost::boost)
add_library(Boost::boost INTERFACE IMPORTED)
set_target_properties(Boost::boost PROPERTIES
INTERFACE_LINK_LIBRARIES "${Boost_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${Boost_INCLUDE_DIRS}")
endif()
catkin_simple()
cs_add_library(${PROJECT_NAME}
# Include files are just here for IDEs
include/kimera_vio_ros/KimeraVioRos.h
include/kimera_vio_ros/RosBagDataProvider.h
include/kimera_vio_ros/RosDataProviderInterface.h
include/kimera_vio_ros/RosDisplay.h
include/kimera_vio_ros/RosOnlineDataProvider.h
include/kimera_vio_ros/RosPublishers.h
include/kimera_vio_ros/RosVisualizer.h
include/kimera_vio_ros/utils/UtilsRos.h
include/kimera_vio_ros/utils/CsvPublisher.h
src/KimeraVioRos.cpp
src/RosDataProviderInterface.cpp
src/RosBagDataProvider.cpp
src/RosOnlineDataProvider.cpp
src/RosDisplay.cpp
src/RosVisualizer.cpp
src/RosLoopClosureVisualizer.cpp
src/LcdRegistrationServer.cpp
src/utils/UtilsRos.cpp
src/utils/CsvPublisher.cpp
)
target_link_libraries(${PROJECT_NAME} kimera_vio)
cs_add_executable(${PROJECT_NAME}_node
src/KimeraVioRosNode.cpp
)
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME})
cs_add_executable(csv_publisher_node
src/utils/CsvPublisherNode.cpp
)
target_link_libraries(csv_publisher_node ${PROJECT_NAME})
catkin_add_gtest(testKimeraVioRos
test/testKimeraVioRos.cpp
)
target_link_libraries(testKimeraVioRos ${PROJECT_NAME})
cs_install()
cs_export()