fixed - rosvisualizer not being included in shared library on build

rpng · Apr 3, 2020 · 18116ca · 18116ca
1 parent 020da1a
commit 18116ca
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/ov_msckf/CMakeLists.txt b/ov_msckf/CMakeLists.txt
@@ -77,7 +77,7 @@ endif()
 ##################################################
 # Make the core library
 ##################################################
-add_library(ov_msckf_lib SHARED
+list(APPEND library_source_files
         src/sim/Simulator.cpp
         src/state/State.cpp
         src/state/StateHelper.cpp
@@ -87,6 +87,12 @@ add_library(ov_msckf_lib SHARED
         src/update/UpdaterMSCKF.cpp
         src/update/UpdaterSLAM.cpp
 )
+if (catkin_FOUND)
+    list(APPEND library_source_files
+        src/core/RosVisualizer.cpp
+    )
+endif()
+add_library(ov_msckf_lib SHARED ${library_source_files})
 target_link_libraries(ov_msckf_lib ${thirdparty_libraries})
 target_include_directories(ov_msckf_lib PUBLIC src)
 
@@ -98,13 +104,13 @@ target_include_directories(ov_msckf_lib PUBLIC src)
 
 if (catkin_FOUND)
 
-    add_executable(run_serial_msckf src/ros_serial_msckf.cpp src/core/RosVisualizer.cpp)
+    add_executable(run_serial_msckf src/ros_serial_msckf.cpp)
     target_link_libraries(run_serial_msckf ov_msckf_lib ${thirdparty_libraries})
 
-    add_executable(run_subscribe_msckf src/ros_subscribe_msckf.cpp src/core/RosVisualizer.cpp)
+    add_executable(run_subscribe_msckf src/ros_subscribe_msckf.cpp)
     target_link_libraries(run_subscribe_msckf ov_msckf_lib ${thirdparty_libraries})
 
-    add_executable(run_simulation src/run_simulation.cpp src/core/RosVisualizer.cpp)
+    add_executable(run_simulation src/run_simulation.cpp)
     target_link_libraries(run_simulation ov_msckf_lib ${thirdparty_libraries})
 
 else()

diff --git a/ov_msckf/launch/pgeneva_serial_tum.launch b/ov_msckf/launch/pgeneva_serial_tum.launch
@@ -40,7 +40,7 @@
 
         <!-- timing statistics recording -->
         <param name="record_timing_information"   type="bool"   value="false" />
-        <param name="record_timing_filepath"      type="string" value="home/patrick/datasets/tum/ov_msckf_timing.txt" />
+        <param name="record_timing_filepath"      type="string" value="/tmp/ov_msckf_timing.txt" />
 
         <!-- tracker/extractor properties -->
         <param name="use_klt"          type="bool"   value="true" />