Catkinized...

Examples/ROS/orb_slam2/CMakeLists.txt

@@ -1,18 +1,26 @@
 cmake_minimum_required(VERSION 2.8.3)
 
-project(orb_slam2)
+project(ORB_SLAM2)
 
 find_package(catkin REQUIRED COMPONENTS
  roscpp
+ rosbag
  sensor_msgs
  image_transport
  message_filters
  cv_bridge
+ tf
 )
 
 find_package(OpenCV REQUIRED)
+if(NOT OpenCV_FOUND)
+ message(FATAL_ERROR "OpenCV not found.")
+endif()
 find_package(Eigen3 REQUIRED)
 find_package(Pangolin REQUIRED)
+if(NOT Pangolin_FOUND)
+ message(FATAL_ERROR "Pangolin not found.")
+endif()
 
 set(ORB_SLAM2_SOURCE_DIR ${PROJECT_SOURCE_DIR}/../../..)
 LIST(APPEND CMAKE_MODULE_PATH ${ORB_SLAM2_SOURCE_DIR}/cmake_modules)
@@ -24,7 +32,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
 
 
 set(orb_slam2_INCLUDE_DIRS
- ${PROJECT_SOURCE_DIR}/include # orb_slam2/System.h
+ ${PROJECT_SOURCE_DIR}/../../../include # orb_slam2/System.h
  ${ORB_SLAM2_SOURCE_DIR}/include # System.h
  ${ORB_SLAM2_SOURCE_DIR} # Thirparty
 )
@@ -72,13 +80,18 @@ set(LIBRARIES
  ${OpenCV_LIBRARIES}
  ${Eigen3_LIBRARIES}
  ${Pangolin_LIBRARIES}
+-lboost_system
+-lconsole_bridge
 )
 
 
 # Node for monocular camera
 add_executable(mono src/ros_mono.cc)
 target_link_libraries(mono ${LIBRARIES})
 
+# Node for monocular camera
+add_executable(Mono2 src/ros_mono2.cc)
+target_link_libraries(Mono2 ${LIBRARIES})
 
 # Node for RGB-D camera
 add_executable(rgbd src/ros_rgbd.cc )
@@ -97,7 +110,7 @@ target_link_libraries(stereo ${LIBRARIES})
 # See https://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
 ## Mark executables and/or libraries for installation
-install(TARGETS mono rgbd stereo
+install(TARGETS mono rgbd stereo Mono2
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -108,3 +121,11 @@ install(DIRECTORY ${ORB_SLAM2_SOURCE_DIR}/include
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
+## install orbslam2 library
+install(FILES ${ORB_SLAM2_SOURCE_DIR}/lib/libORB_SLAM2.so
+ DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+## install orb vocabulary
+install(FILES ${ORB_SLAM2_SOURCE_DIR}/Vocabulary/ORBvoc.txt
+DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

Examples/ROS/orb_slam2/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
- <name>orb_slam2</name>
+ <name>ORB_SLAM2</name>
  <version>1.0.0</version>
  <description>The ORB_SLAM2 package</description>