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Enable building without ROS even if you have ROS #448

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Enable building without ROS even if you have ROS #448

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9 changes: 6 additions & 3 deletions ov_msckf/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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 ()

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1 change: 0 additions & 1 deletion ov_msckf/cmake/ROS1.cmake
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Expand Up @@ -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(
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