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jsk_interactive: support USE_VISUALIZATION option
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@k-okada
k-okada committed May 11, 2024
1 parent 645ceda commit ad97165
Showing 1 changed file with 51 additions and 28 deletions.
79 changes: 51 additions & 28 deletions jsk_interactive_markers/jsk_interactive_marker/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,17 @@ else()
add_compile_options(-std=c++11)
endif()

# support environment does not have visualization such as VTK or Rviz (i.e embedded environment)
set(USE_VISUALIZATION ON CACHE BOOL "compile with rviz package")
if(USE_VISUALIZATION)
set(RVIZ "rviz")
set(JSK_RECOGNITION_UTILS "jsk_recognition_utils")
else()
set(RVIZ "")
set(JSK_RECOGNITION_UTILS "")
message(WARNING "Compile without RVIZ/jsk_recognition_utils package")
endif()

# Use ccache if installed to make it fast to generate object files
if (CMAKE_VERSION VERSION_LESS 3.4)
find_program(CCACHE_FOUND ccache)
Expand All @@ -32,11 +43,13 @@ find_package(catkin REQUIRED COMPONENTS
pcl_conversions
jsk_recognition_msgs
${PCL_MSGS}
jsk_topic_tools
rviz
jsk_topic_tools image_transport
${RVIZ} ${JSK_RECOGNITION_UTILS}
)
message("jsk_recognition_msgs : ${jsk_recognition_msgs_VERSION}")
message("jsk_footstep_msgs : ${jsk_footstep_msgs_VERSION}")
message("rviz : VERSION: ${rviz_VERSION}, FOUND: ${rviz_FOUND}")
message("jsk_recognition_utils : VERSION: ${jsk_recognition_utils_VERSION}, FOUND ${jsk_recognition_utils_FOUND}")
message("jsk_recognition_msgs : VERSION: ${jsk_recognition_msgs_VERSION}, FOUND: ${jsk_recognition_msgs_FOUND}")
message("jsk_footstep_msgs : VERSION: ${jsk_footstep_msgs_VERSION}, FOUND: ${jsk_footstep_msgs_FOUND}")
find_package(orocos_kdl REQUIRED)
find_package(TinyXML REQUIRED)
find_package(Boost REQUIRED COMPONENTS system)
Expand Down Expand Up @@ -64,30 +77,30 @@ include_directories(include ${catkin_INCLUDE_DIRS}
${orocos_kdl_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

# include Qt
if(rviz_QT_VERSION VERSION_LESS "5")
if(rviz_FOUND AND (rviz_QT_VERSION VERSION_LESS "5"))
find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
include(${QT_USE_FILE})
else()
elseif(rviz_FOUND)
find_package(Qt5Widgets REQUIRED)
endif()
add_definitions(-DQT_NO_KEYWORDS -g)

if(jsk_recognition_msgs_VERSION VERSION_LESS "1.2.0")
if((NOT rviz_FOUND) OR (jsk_recognition_msgs_VERSION VERSION_LESS "1.2.0"))
set(TRANSFORMABLE_MARKER_OPERATOR_SRC_FILES)
message(WARNING "transformable_marker_operator.h requires jsk_recognition_msgs >= 1.2.0")
else(jsk_recognition_msgs_VERSION VERSION_LESS "1.2.0")
set(TRANSFORMABLE_MARKER_OPERATOR_SRC_FILES
src/rviz_plugins/transformable_marker_operator.cpp)
if(rviz_QT_VERSION VERSION_LESS "5")
if(rviz_FOUND AND (rviz_QT_VERSION VERSION_LESS "5"))
qt4_wrap_cpp(MOC_FILES
include/jsk_interactive_marker/rviz_plugins/transformable_marker_operator.h
)
else()
elseif(rviz_FOUND)
qt5_wrap_cpp(MOC_FILES
include/jsk_interactive_marker/rviz_plugins/transformable_marker_operator.h
)
endif()
endif(jsk_recognition_msgs_VERSION VERSION_LESS "1.2.0")
endif((NOT rviz_FOUND) OR (jsk_recognition_msgs_VERSION VERSION_LESS "1.2.0"))

# target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${TinyXML_LIBRARIES} ${orocos_kdl_LIBRARIES})
link_directories(${catkin_LIBRARY_DIRS})
Expand All @@ -100,28 +113,37 @@ add_library(jsk_interactive_marker
${MOC_FILES}
${UIC_FILES}
)
if(rviz_QT_VERSION VERSION_LESS "5")
if(rviz_FOUND AND (rviz_QT_VERSION VERSION_LESS "5"))
target_link_libraries(jsk_interactive_marker ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES})
else()
elseif(rviz_FOUND)
target_link_libraries(jsk_interactive_marker Qt5::Widgets ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES})
endif()
if(rviz_FOUND)
add_dependencies(jsk_interactive_marker ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
endif()

set(INSTALL_TARGET)
if(jsk_recognition_utils_FOUND)
add_executable(interactive_marker_interface src/interactive_marker_interface.cpp src/interactive_marker_utils.cpp)
target_link_libraries(interactive_marker_interface ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(interactive_marker_interface ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
append(INSTALL_TARGET "interactive_marker_interface")

add_executable(camera_info_publisher src/camera_info_publisher.cpp src/interactive_marker_utils.cpp)
target_link_libraries(camera_info_publisher ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker yaml-cpp)
add_dependencies(camera_info_publisher ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
append(INSTALL_TARGET "camera_info_publisher")

add_executable(urdf_model_marker src/urdf_model_marker.cpp src/urdf_model_marker_main.cpp src/interactive_marker_utils.cpp)
target_link_libraries(urdf_model_marker ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(urdf_model_marker ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
append(INSTALL_TARGET "urdf_model_marker")

add_executable(urdf_control_marker src/urdf_control_marker.cpp src/interactive_marker_utils.cpp)
target_link_libraries(urdf_control_marker ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(urdf_control_marker ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
append(INSTALL_TARGET "urdf_control_marker")
endif()

add_executable(point_cloud_config_marker src/point_cloud_config_marker.cpp)
target_link_libraries(point_cloud_config_marker ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
Expand All @@ -135,9 +157,12 @@ add_executable(door_foot src/door_foot.cpp)
target_link_libraries(door_foot ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(door_foot ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})

add_executable(footstep_marker src/footstep_marker.cpp)
target_link_libraries(footstep_marker ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(footstep_marker ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
if(jsk_recognition_utils_FOUND)
add_executable(footstep_marker src/footstep_marker.cpp)
target_link_libraries(footstep_marker ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(footstep_marker ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
append(INSTALL_TARGET "footstep_marker")
endif()

add_executable(marker_6dof src/marker_6dof.cpp)
target_link_libraries(marker_6dof ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
Expand All @@ -151,13 +176,17 @@ add_executable(bounding_box_marker src/bounding_box_marker.cpp)
target_link_libraries(bounding_box_marker ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(bounding_box_marker ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})

add_executable(polygon_marker src/polygon_marker.cpp)
target_link_libraries(polygon_marker ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(polygon_marker ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
if(jsk_recognition_utils_FOUND)
add_executable(polygon_marker src/polygon_marker.cpp)
target_link_libraries(polygon_marker ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(polygon_marker ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
append(INSTALL_TARGET "polygon_marker")

add_executable(interactive_point_cloud src/interactive_point_cloud_node.cpp src/interactive_point_cloud.cpp src/parent_and_child_interactive_marker_server.cpp)
target_link_libraries(interactive_point_cloud ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(interactive_point_cloud ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
add_executable(interactive_point_cloud src/interactive_point_cloud_node.cpp src/interactive_point_cloud.cpp src/parent_and_child_interactive_marker_server.cpp)
target_link_libraries(interactive_point_cloud ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES} ${Boost_LIBRARIES} jsk_interactive_marker)
add_dependencies(interactive_point_cloud ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
append(INSTALL_TARGET "interactive_point_cloud")
endif()

add_executable(pointcloud_cropper src/pointcloud_cropper.cpp
)
Expand Down Expand Up @@ -224,21 +253,15 @@ install(DIRECTORY include/${PROJECT_NAME}/

install(TARGETS
jsk_interactive_marker
interactive_marker_interface
camera_info_publisher
urdf_model_marker
urdf_control_marker
point_cloud_config_marker
triangle_foot
door_foot
footstep_marker
marker_6dof
world2yaml
bounding_box_marker
polygon_marker
interactive_point_cloud
pointcloud_cropper
transformable_server_sample
${INSTALL_TARGET}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
Expand Down

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