2.2.1.4. Local Mapping ROS Package

2.2.1.4.1. local_mapping

Package for Local Mapping

Maintainers:
Version:

2.0.0

License:

TODO

2.2.1.4.1.1. Dependencies

Build:
Build export:
Build tool:

catkin

Execution:

2.2.1.4.1.2. Package definition files

2.2.1.4.1.2.1. CMakeLists.txt

 1cmake_minimum_required(VERSION 3.21.0)
 2project(local_mapping VERSION 2.0.0 LANGUAGES CXX CUDA)
 3
 4find_package(catkin REQUIRED COMPONENTS
 5  roscpp
 6  rospy
 7  roslib
 8  cv_bridge
 9  std_msgs
10  utilities
11  pcl_ros
12  as_can_msgs
13)
14
15if(NOT CMAKE_BUILD_TYPE)
16    set(CMAKE_BUILD_TYPE Release)
17endif()
18
19# Set optimization
20set(CMAKE_CXX_FLAGS_DEBUG "-g")
21set(CMAKE_CXX_FLAGS_RELEASE "-O3")
22
23find_package(Eigen3 REQUIRED)
24find_package(OpenCV REQUIRED)
25find_package(PCL 1.8 REQUIRED)
26find_package(OpenMP REQUIRED)
27set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
28
29# CUDA
30set(CMAKE_CUDA_ARCHITECTURES 60 61 62 70 72 75 86 89 90)
31set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)
32option(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
33find_package(CUDA REQUIRED)
34find_package(CUDAToolkit REQUIRED)
35get_filename_component(CUDA_LIB_DIR ${CUDA_LIBRARIES} DIRECTORY)
36include_directories("${CUDA_INCLUDE_DIRS}")
37
38find_package(linefit_ground_segmentation REQUIRED)
39
40catkin_package(
41  INCLUDE_DIRS include
42  LIBRARIES ${PROJECT_NAME}
43  CATKIN_DEPENDS roscpp rospy roslib cv_bridge std_msgs utilities as_can_msgs pcl_ros
44)
45
46include_directories(
47  ${catkin_INCLUDE_DIRS}
48  ${CMAKE_CURRENT_SOURCE_DIR}/include
49  ${EIGEN_INCLUDE_DIRS}
50  ${OpenCV_INCLUDE_DIRS}
51  ${PCL_INCLUDE_DIRS}
52  ${linefit_ground_segmentation_INCLUDE_DIRS}
53)
54
55file(GLOB SOURCES "src/*.cpp")
56add_executable(local_mapping ${SOURCES})
57link_directories(${PCL_LIBRARY_DIRS})
58target_link_libraries(local_mapping ${catkin_LIBRARIES} ${OpenCV_LIBS} Eigen3::Eigen ${PCL_LIBRARIES} OpenMP::OpenMP_CXX ${CUDA_LIBRARIES} ${CUDA_cublas_LIBRARY} linefit_ground_segmentation)

2.2.1.4.1.2.2. package.xml

 1<?xml version="1.0"?>
 2<package format="2">
 3  <name>local_mapping</name>
 4  <version>2.0.0</version>
 5  <description>Package for Local Mapping</description>
 6
 7  <maintainer email="martina.scheffler@curemannheim.de">Martina Scheffler</maintainer>
 8  <maintainer email="maximilian.floto@curemannheim.de">Maximilian Floto</maintainer>
 9  <maintainer email="philipp.wolf@curemannheim.de">Philipp Wolf</maintainer>
10
11  <license>TODO</license>
12
13  <buildtool_depend>catkin</buildtool_depend>
14  <build_depend>roscpp</build_depend>
15  <build_depend>rospy</build_depend>
16  <build_depend>roslib</build_depend>
17  <build_depend>cv_bridge</build_depend>
18  <build_depend>std_msgs</build_depend>
19  <build_depend>utilities</build_depend>
20  <build_depend>as_can_msgs</build_depend>
21  <build_depend>pcl_ros</build_depend>
22  <build_export_depend>roscpp</build_export_depend>
23  <build_export_depend>rospy</build_export_depend>
24  <build_export_depend>roslib</build_export_depend>
25  <build_export_depend>cv_bridge</build_export_depend>
26  <build_export_depend>std_msgs</build_export_depend>
27  <build_export_depend>utilities</build_export_depend>
28  <build_export_depend>as_can_msgs</build_export_depend>
29  <exec_depend>roscpp</exec_depend>
30  <exec_depend>rospy</exec_depend>
31  <exec_depend>roslib</exec_depend>
32  <exec_depend>cv_bridge</exec_depend>
33  <exec_depend>std_msgs</exec_depend>
34  <exec_depend>utilities</exec_depend>
35  <exec_depend>as_can_msgs</exec_depend>
36  <exec_depend>pcl_ros</exec_depend>
37
38  <export>
39  </export>
40</package>