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Enable building without ROS even if you have ROS #448

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merged 2 commits into from
Dec 15, 2024
+24 −16
Merged

Enable building without ROS even if you have ROS #448

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440af50
enable building without ROS even if you have ROS
henrygerardmoore May 31, 2024
a949b8d
extend to all other packages
goldbattle Dec 15, 2024
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9 changes: 6 additions & 3 deletions ov_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,9 @@ endif ()
find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION})

# By default we build with ROS, but you can disable this and just build as a library
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)

# If we will compile with aruco support
option(ENABLE_ARUCO_TAGS "Enable or disable aruco tag (disable if no contrib modules)" ON)
if (NOT ENABLE_ARUCO_TAGS)
Expand Down Expand Up @@ -51,14 +54,14 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninit
# NOTE: https://github.com/romainreignier/share_ros1_ros2_lib_demo
find_package(catkin QUIET COMPONENTS roscpp)
find_package(ament_cmake QUIET)
if (catkin_FOUND)
if (catkin_FOUND AND ENABLE_ROS)
message(STATUS "ROS *1* version found, building ROS1.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
elseif (ament_cmake_FOUND)
elseif (ament_cmake_FOUND AND ENABLE_ROS)
message(STATUS "ROS *2* version found, building ROS2.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS2.cmake)
else ()
message(STATUS "No ROS versions found, building ROS1.cmake")
message(STATUS "No ROS versions found or building with ROS disabled, building ROS1.cmake without ROS")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
endif ()

Expand Down
1 change: 0 additions & 1 deletion ov_core/cmake/ROS1.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ cmake_minimum_required(VERSION 3.3)
find_package(catkin QUIET COMPONENTS roscpp rosbag sensor_msgs cv_bridge)

# Describe ROS project
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
if (catkin_FOUND AND ENABLE_ROS)
add_definitions(-DROS_AVAILABLE=1)
catkin_package(
Expand Down
9 changes: 6 additions & 3 deletions ov_eval/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,9 @@ project(ov_eval)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)

# By default we build with ROS, but you can disable this and just build as a library
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)

# check if we have our python libs files (will search for python3 then python2 installs)
# sudo apt-get install python-matplotlib python-numpy python-dev
# https://cmake.org/cmake/help/v3.10/module/FindPythonLibs.html
Expand Down Expand Up @@ -36,14 +39,14 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninit
# NOTE: https://github.com/romainreignier/share_ros1_ros2_lib_demo
find_package(catkin QUIET COMPONENTS roscpp)
find_package(ament_cmake QUIET)
if (catkin_FOUND)
if (catkin_FOUND AND ENABLE_ROS)
message(STATUS "ROS *1* version found, building ROS1.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
elseif (ament_cmake_FOUND)
elseif (ament_cmake_FOUND AND ENABLE_ROS)
message(STATUS "ROS *2* version found, building ROS2.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS2.cmake)
else ()
message(STATUS "No ROS versions found, building ROS1.cmake")
message(STATUS "No ROS versions found or building with ROS disabled, building ROS1.cmake without ROS")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
endif ()

1 change: 0 additions & 1 deletion ov_eval/cmake/ROS1.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ cmake_minimum_required(VERSION 3.3)
find_package(catkin QUIET COMPONENTS roscpp rospy geometry_msgs nav_msgs sensor_msgs ov_core)

# Describe ROS project
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
if (catkin_FOUND AND ENABLE_ROS)
add_definitions(-DROS_AVAILABLE=1)
catkin_package(
Expand Down
9 changes: 6 additions & 3 deletions ov_init/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,9 @@ find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
find_package(Ceres REQUIRED)
message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | CERES: " ${Ceres_VERSION})

# By default we build with ROS, but you can disable this and just build as a library
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)

# check if we have our python libs files (will search for python3 then python2 installs)
# sudo apt-get install python-matplotlib python-numpy python-dev
# https://cmake.org/cmake/help/v3.10/module/FindPythonLibs.html
Expand Down Expand Up @@ -44,14 +47,14 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninit
# NOTE: https://github.com/romainreignier/share_ros1_ros2_lib_demo
find_package(catkin QUIET COMPONENTS roscpp)
find_package(ament_cmake QUIET)
if (catkin_FOUND)
if (catkin_FOUND AND ENABLE_ROS)
message(STATUS "ROS *1* version found, building ROS1.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
elseif (ament_cmake_FOUND)
elseif (ament_cmake_FOUND AND ENABLE_ROS)
message(STATUS "ROS *2* version found, building ROS2.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS2.cmake)
else ()
message(STATUS "No ROS versions found, building ROS1.cmake")
message(STATUS "No ROS versions found or building with ROS disabled, building ROS1.cmake without ROS")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
endif ()

1 change: 0 additions & 1 deletion ov_init/cmake/ROS1.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ cmake_minimum_required(VERSION 3.3)
find_package(catkin QUIET COMPONENTS roscpp ov_core)

# Describe ROS project
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
if (catkin_FOUND AND ENABLE_ROS)
add_definitions(-DROS_AVAILABLE=1)
catkin_package(
Expand Down
9 changes: 6 additions & 3 deletions ov_msckf/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@ find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
find_package(Ceres REQUIRED)
message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | CERES: " ${Ceres_VERSION})

# By default we build with ROS, but you can disable this and just build as a library
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)

# If we will compile with aruco support
option(ENABLE_ARUCO_TAGS "Enable or disable aruco tag (disable if no contrib modules)" ON)
if (NOT ENABLE_ARUCO_TAGS)
Expand All @@ -38,14 +41,14 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -fno-omit-fram
# NOTE: https://github.com/romainreignier/share_ros1_ros2_lib_demo
find_package(catkin QUIET COMPONENTS roscpp)
find_package(ament_cmake QUIET)
if (catkin_FOUND)
if (catkin_FOUND AND ENABLE_ROS)
message(STATUS "ROS *1* version found, building ROS1.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
elseif (ament_cmake_FOUND)
elseif (ament_cmake_FOUND AND ENABLE_ROS)
message(STATUS "ROS *2* version found, building ROS2.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS2.cmake)
else ()
message(STATUS "No ROS versions found, building ROS1.cmake")
message(STATUS "No ROS versions found or building with ROS disabled, building ROS1.cmake without ROS")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
endif ()

Expand Down
1 change: 0 additions & 1 deletion ov_msckf/cmake/ROS1.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ cmake_minimum_required(VERSION 3.3)
find_package(catkin QUIET COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs visualization_msgs image_transport cv_bridge ov_core ov_init)

# Describe ROS project
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
if (catkin_FOUND AND ENABLE_ROS)
add_definitions(-DROS_AVAILABLE=1)
catkin_package(
Expand Down
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