Added cmake option BUILD_WITH_RPATH_NOT_RUNPATH to use old RPATH beha…

…vior on build tree (#1308)

CMakeLists.txt

@@ -227,6 +227,7 @@ option(PCL_OMP "With PCL OMP implementations" OFF)
 ELSE()
 option(PCL_OMP "With PCL OMP implementations" ON)
 ENDIF()
+option(BUILD_WITH_RPATH_NOT_RUNPATH "Explicitly disable usage of RUNPATH for the build tree on linux systems by adding --disable-new-dtags to linker (using old RPATH behavior instead)" OFF)
 
 set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
 set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
@@ -806,6 +807,11 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
  ENDIF(ORB_SLAM_FOUND)
 ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 
+SET(DISABLE_NEW_DTAGS_FLAG "--disable-new-dtags")
+IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
+ ADD_LINK_OPTIONS(LINKER:${DISABLE_NEW_DTAGS_FLAG})
+ENDIF()
+
 IF(NOT MSVC)
  IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR TORCH_FOUND)
  # Qt6 requires c++17
@@ -1304,6 +1310,9 @@ IF(APPLE OR WIN32)
 MESSAGE(STATUS " BUILD_AS_BUNDLE = ${BUILD_AS_BUNDLE}")
 ENDIF(APPLE OR WIN32)
 MESSAGE(STATUS " CMAKE_CXX_FLAGS = ${CMAKE_CXX_FLAGS}")
+IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
+MESSAGE(STATUS " LINKER FLAGS = ${DISABLE_NEW_DTAGS_FLAG}")
+ENDIF()
 MESSAGE(STATUS " FLANN_KDTREE_MEM_OPT = ${FLANN_KDTREE_MEM_OPT}")
 MESSAGE(STATUS " PCL_DEFINITIONS = ${PCL_DEFINITIONS}")
 MESSAGE(STATUS " PCL_VERSION = ${PCL_VERSION}")