Made small changes for the public cross compile. (nasa#175)

CMakeLists.txt

@@ -308,7 +308,13 @@ if (USE_CTC)
 endif (USE_CTC)
 if (USE_ROS)
   set(ENV{ROS_LANG_DISABLE} "genlisp:gennodejs:geneus:$ENV{ROS_LANG_DISABLE}")
-  find_package(catkin2 COMPONENTS roscpp message_generation std_msgs geometry_msgs sensor_msgs cv_bridge image_transport tf tf2 tf2_ros rosbag nodelet rviz)
+
+  if (USE_CTC)
+    find_package(catkin2 COMPONENTS roscpp message_generation std_msgs geometry_msgs sensor_msgs cv_bridge image_transport tf tf2 tf2_ros rosbag nodelet)
+  else ()
+    find_package(catkin2 COMPONENTS roscpp message_generation std_msgs geometry_msgs sensor_msgs cv_bridge image_transport tf tf2 tf2_ros rosbag nodelet rviz)
+  endif (USE_CTC)
+
   find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
 
   if (IS_BAMBOO_BUILD)

doc/general_documentation/INSTALL.md

@@ -116,7 +116,6 @@ Install Luajit, it will be installed in /usr/local
     E: Unable to locate package libsoracore-dev
     E: Unable to locate package libmiro-dev
 
-
 ## Configuring the build
 
 ### Note for the build setup
@@ -169,5 +168,10 @@ rebuilt, and not the entire code base.
 If you configured your virtual machine with more than the baseline resources,
 you can adjust the number of threads (eg. -j4) to speed up the build.
 
+## Cross Compiling
+
+Please contact your Astrobee point of contact if you need to cross compile the
+code.
+
 For more information on running the simulator and moving the robot, please see
 the [simulation instructions](simulation/sim_overview.md).

localization/CMakeLists.txt

@@ -31,7 +31,7 @@ if (USE_ROS)
   add_subdirectory(handrail_detect)
   add_subdirectory(localization_manager)
   add_subdirectory(localization_node)
-  if (ENABLE_VIVE_SOLVER)
+  if (ENABLE_VIVE_SOLVER AND ENABLE_VIVE)
     add_subdirectory(vive_localization)
   endif()
 endif (USE_ROS)