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- cmake_minimum_required(VERSION 3.1)
- project(slam_karto)
- if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 11)
- endif()
- find_package(catkin REQUIRED
- COMPONENTS
- message_filters
- nav_msgs
- open_karto
- rosconsole
- roscpp
- sensor_msgs
- sparse_bundle_adjustment
- tf
- visualization_msgs
- )
- find_package(Eigen3 REQUIRED)
- include_directories(${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
- add_definitions(${EIGEN3_DEFINITIONS})
- catkin_package()
- add_executable(slam_karto src/slam_karto.cpp src/spa_solver.cpp)
- target_link_libraries(slam_karto ${catkin_LIBRARIES})
- # nodelets
- add_executable(TF_pub src/TF_pub.cpp)
- # add_library(laser_odom src/laser_odom.cpp)
- target_link_libraries(TF_pub
- ${catkin_LIBRARIES}
- ${PCL_LIBRARIES}
- )
- install(TARGETS slam_karto
- RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
- )
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