enable building without ROS even if you have ROS

ov_msckf/CMakeLists.txt

@@ -33,19 +33,22 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-sign
 # Enable debug flags (use if you want to debug in gdb)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -fno-omit-frame-pointer")
 
+
+option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
+
 # Find our ROS version!
 # NOTE: Default to using the ROS1 package if both are in our enviroment
 # 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 ()
 

ov_msckf/cmake/ROS1.cmake

@@ -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(