rtabmap support

wangJiBoHome · Jul 10, 2018 · 30050cf · 30050cf
1 parent 93bc54a
commit 30050cf
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diff --git a/turbot_bringup/launch/start.launch b/turbot_bringup/launch/start.launch
@@ -0,0 +1,3 @@
+<launch>  
+    <include file="$(find turbot_bringup)/launch/minimal.launch" />  
+</launch>
diff --git a/turbot_vslam/CMakeLists.txt b/turbot_vslam/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
diff --git a/turbot_vslam/Makefile b/turbot_vslam/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
diff --git a/turbot_vslam/launch/rtabmap/rtabmap.launch b/turbot_vslam/launch/rtabmap/rtabmap.launch
@@ -0,0 +1,5 @@
+<launch>
+
+<include file="$(find rtabmap_ros)/launch/demo/demo_turtlebot_mapping.launch" />
+
+</launch>
diff --git a/turbot_vslam/launch/rtabmap/rtabmap_rviz.launch b/turbot_vslam/launch/rtabmap/rtabmap_rviz.launch
@@ -0,0 +1,3 @@
+<launch>
+<include file="$(find rtabmap_ros)/launch/demo/demo_turtlebot_rviz.launch" />
+</launch>
diff --git a/turbot_vslam/mainpage.dox b/turbot_vslam/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b turbot_vslam 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/turbot_vslam/manifest.xml b/turbot_vslam/manifest.xml
@@ -0,0 +1,17 @@
+<package>
+  <description brief="turbot_vslam">
+
+     turbot_vslam
+
+  </description>
+  <author>ubuntu</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/turbot_vslam</url>
+  <depend package="roscpp"/>
+  <depend package="rospy"/>
+  <depend package="std_msgs"/>
+
+</package>
+
+