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enable to jsk_rviz_plugins, without rviz/ogre #848

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merged 7 commits into from
Dec 11, 2024
Merged

enable to jsk_rviz_plugins, without rviz/ogre #848

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5af95d9
enable to jsk_rviz_plugins, without rviz/ogre, i.e. use jsk_rviz_plug…
k-okada May 17, 2022
65f12dd
enable to compile without jsk_recognition_utils, if 'pcl/visualizatio…
k-okada Jul 8, 2022
70bb1b2
if USE_VISUALIZATION is not set, we do not have LIBRARIES in catkin_p…
k-okada Jul 10, 2022
fb359df
jsk_rviz_plugins: find_package(Qt.. only when USE_VISUALIZATION
k-okada Jul 10, 2022
73ba0ef
jsk_interactive: support USE_VISUALIZATION option
k-okada Jul 10, 2022
43fae2b
Merge branch 'master' into jsk_rviz_plugins_msgs
k-okada Dec 10, 2024
dc94b72
Merge branch 'master' into jsk_rviz_plugins_msgs
k-okada Dec 10, 2024
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79 changes: 51 additions & 28 deletions jsk_interactive_markers/jsk_interactive_marker/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,17 @@ if(("$ENV{ROS_DISTRO}" STREQUAL "kinetic") OR ("$ENV{ROS_DISTRO}" STREQUAL "indi
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 @@ -31,11 +42,13 @@ 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 @@ -63,30 +76,30 @@ 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 @@ -99,28 +112,37 @@ 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})
list(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})
list(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})
list(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})
list(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 @@ -134,9 +156,12 @@ 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})
list(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 @@ -150,13 +175,17 @@ 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})
list(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})
list(APPEND INSTALL_TARGET "interactive_point_cloud")
endif()

add_executable(pointcloud_cropper src/pointcloud_cropper.cpp
)
Expand Down Expand Up @@ -223,21 +252,15 @@ 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 ${CATKIN_PACKAGE_LIB_DESTINATION}
Expand Down
44 changes: 37 additions & 7 deletions jsk_rviz_plugins/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,21 @@ if(("$ENV{ROS_DISTRO}" STREQUAL "kinetic") OR ("$ENV{ROS_DISTRO}" STREQUAL "indi
# catch special case ROS kinetic where c++11 is not the default yet
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") # jsk_recognition_utils depends on pcl/visualization (https://github.com/jsk-ros-pkg/jsk_recognition/blob/09cbce5f0ce7102331f6e48b9f9befc2b1fda869/jsk_recognition_utils/src/pcl_conversion_util.cpp#L37)
else()
set(RVIZ "")
set(JSK_RECOGNITION_UTILS "")
message(WARNING "Compile without RVIZ/jsk_recognition_utils package")
endif()

# Load catkin and all dependencies required for this package
# TODO: remove all from COMPONENTS that are not catkin packages.
find_package(catkin REQUIRED COMPONENTS rviz jsk_hark_msgs jsk_footstep_msgs jsk_recognition_utils
find_package(catkin REQUIRED COMPONENTS ${RVIZ} jsk_hark_msgs jsk_footstep_msgs ${JSK_RECOGNITION_UTILS}
people_msgs
message_generation std_msgs diagnostic_msgs cv_bridge
jsk_topic_tools
Expand Down Expand Up @@ -45,12 +57,17 @@ generate_dynamic_reconfigure_options(
cfg/OverlayTextInterface.cfg)
generate_messages(DEPENDENCIES std_msgs geometry_msgs)

if(USE_VISUALIZATION)
set(${LIBRARIES_PROJECT_NAME} ${PROJECT_NAME})
else()
set(${LIBRARIES_PROJECT_NAME} "")
endif()
catkin_package(
DEPENDS rviz
DEPENDS ${RVIZ}
CATKIN_DEPENDS jsk_hark_msgs jsk_footstep_msgs
jsk_recognition_utils cv_bridge people_msgs image_geometry
${JSK_RECOGNITION_UTILS} cv_bridge people_msgs image_geometry
INCLUDE_DIRS # TODO include
LIBRARIES ${PROJECT_NAME}
LIBRARIES ${LIBRARIES_PROJECT_NAME}
)


Expand All @@ -63,10 +80,10 @@ include_directories(src ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need

if(rviz_QT_VERSION VERSION_LESS "5")
if(USE_VISUALIZATION AND rviz_QT_VERSION VERSION_LESS "5")
find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
include(${QT_USE_FILE})
else()
elseif(USE_VISUALIZATION)
find_package(Qt5Widgets REQUIRED)
endif()
add_definitions(-DQT_NO_KEYWORDS -g)
Expand Down Expand Up @@ -123,7 +140,10 @@ set(HEADER_FILES
src/human_skeleton_array_display.h
)

if(rviz_QT_VERSION VERSION_LESS "5")
message(STATUS "Check rviz_FOUND: [${rviz_FOUND}], rviz_QT_VERSION: [${rviz_QT_VERSION}]")
if("${rviz_QT_VERSION}" STREQUAL "")
message(WARNING "Compile without RVIZ package : skip qt_wrap_cpp")
elseif(rviz_QT_VERSION VERSION_LESS "5")
qt4_wrap_cpp(MOC_FILES ${HEADER_FILES})
else()
qt5_wrap_cpp(MOC_FILES ${HEADER_FILES})
Expand Down Expand Up @@ -189,6 +209,15 @@ if(jsk_recognition_msgs_VERSION VERSION_LESS 1.2.15)
list(REMOVE_ITEM SOURCE_FILES ${PROJECT_BINARY_DIR}/src/moc_human_skeleton_array_display.cxx)
endif()

if(NOT USE_VISUALIZATION)
message(WARNING "polygon_array_display, simple_occupancy_grid_array_display requries jsk_recognition_utils")
list(REMOVE_ITEM HEADER_FILES src/polygon_array_display.h)
list(REMOVE_ITEM SOURCE_FILES src/polygon_array_display.cpp)
list(REMOVE_ITEM HEADER_FILES src/simple_occupancy_grid_array_display.h)
list(REMOVE_ITEM SOURCE_FILES src/simple_occupancy_grid_array_display.cpp)
endif()

if(rviz_FOUND)
add_library(jsk_rviz_plugins ${SOURCE_FILES} ${UIC_FILES})
if(rviz_QT_VERSION VERSION_LESS "5")
target_link_libraries(jsk_rviz_plugins ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES})
Expand Down Expand Up @@ -223,6 +252,7 @@ install(TARGETS jsk_rviz_plugins
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
endif(rviz_FOUND)

install(DIRECTORY scripts/
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
Expand Down
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