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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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undefined symbol: _ZN2cv3MatC1Ev #2467

Closed arpaterson closed 1 year ago

arpaterson commented 2 years ago

I have done a source build of realsense-ros and librealsense (native backend + CUDA, but SKIPPING the kernel patches) on a nvidia AGX Orin. It was suggested here that this might work. I am getting undefined symbol: _ZN2cv3MatC1Ev when trying to launch.

Output of uname -a

Linux orin-devkit 5.10.65-tegra #1 SMP PREEMPT Mon May 16 20:58:07 PDT 2022 aarch64 aarch64 aarch64 GNU/Linux

Output with launching rs_rgbd.launch or rs_camera.launch

[ INFO] [1662238035.921341031]: Done Setting Dynamic reconfig parameters.
/opt/ros/noetic/lib/nodelet/nodelet: symbol lookup error: /home/sacvp-user/git/scaled-acv/sacvp/on-the-device/ros/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev
[camera/realsense2_camera_manager-4] process has died [pid 2467862, exit code 127, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/sacvp-user/.ros/log/93f38000-2bc9-11ed-a8a8-ec63d76dedb8/camera-realsense2_camera_manager-4.log].
log file: /home/sacvp-user/.ros/log/93f38000-2bc9-11ed-a8a8-ec63d76dedb8/camera-realsense2_camera_manager-4*.log
[camera/points_xyzrgb_hw_registered-7] process has finished cleanly

I think this might be related.

arpaterson commented 2 years ago

I noticed I have /usr/local/lib/librealsense.so.2.51. It seems I used the -b option git checkout -b v2.50.0 and created a local branch "v.2.50.0" pointing at the current HEAD (v2.51).

Cleaning up and using git checkout v2.50.0...

... did not resolve this.

arpaterson commented 2 years ago

And neither did building with the RS_USB backend.

the rosdep/apt installed ros-noetic-realsense2-camera and ros-noetic-librealsense2 work, but I need to build with CUDA, and preferably the native backend.

MartyG-RealSense commented 2 years ago

Hi @arpaterson If you install librealsense and the RealSense ROS wrapper together from packages with the wrapper's Method 1 instructions then the packages will be based on the RSUSB backend and not contain CUDA support. However, CUDA support accelerates just three types of function: color conversion, depth-color alignment and pointcloud. So unless you are setting align_depth to true or using the pointcloud filter, having CUDA support enabled in librealsense is unlikely to provide a performance benefit.

At https://github.com/IntelRealSense/realsense-ros/issues/2326 where the error undefined symbol: _ZN2cv3MatC1Ev occurred on a Jetson Xavier NX, a RealSense ROS user at https://github.com/IntelRealSense/realsense-ros/issues/2326#issuecomment-1107658481 suggested a solution that solved the error in that particular case.

arpaterson commented 2 years ago

I am currently setting align_depth true, although I am unsure if I will continue to do that. This ROS project uses an AGX orin now, but should also run on a nano.

MartyG-RealSense commented 2 years ago

Have you had the opportunity to try the solution at https://github.com/IntelRealSense/realsense-ros/issues/2326#issuecomment-1107658481 which states that it can work with RSUSB = false (native backend).

Whilst CUDA support is not included when installing from packages with the ROS wrapper's Method 1 instructions, it is included if you build librealsense and the ROS wrapper separately (librealsense from Jetson packages or source code, the ROS wrapper from source code). Instructions for installing librealsense from packages on Jetson are at the link below.

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md#4-install-with-debian-packages

CUDA support is automatically included in the librealsense packages. If librealsense is built from source code with CMake then you can add CUDA support by including -DBUILD_WITH_CUDA=true in the CMake build instruction.

arpaterson commented 2 years ago

I will try that shortly, however from today until the 18th I will not have the equipment.

I will come back to this on my return

MartyG-RealSense commented 2 years ago

Thanks very much @arpaterson for the update. I look forward to your next report. Good luck!

arpaterson commented 2 years ago

To clarify:

In the jetson instructions, we are referred to the ubuntu instructions "Follow the Ubuntu installation guide to install the missing components and configuration items:"

for ubuntu20.04 the ubuntu guide suggests sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at I think I missed this step before.

And then returning to the jetson instructions sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev -y

Am I following that correctly? is it necessary to install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at?

MartyG-RealSense commented 2 years ago

My interpretation of the instructions would be as follows.

  1. Use the instruction below to install core packages required to install the librealsense binaries:

sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev

  1. Use the instruction below to install distribution-specific packages for Ubuntu 20:

sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

  1. Run the Intel Realsense permissions script from the librealsense root directory:

./scripts/setup_udev_rules.sh

The installation instructions state that libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev are necessary if you want to build the SDK with support for OpenGL-enabled graphical examples, otherwise the core SDK will be configured for a headless environment without a graphics display.

arpaterson commented 2 years ago

OK, yes I picked that up after re-reading the instructions. I proceed with the packages installed for graphical examples.

I added: find_package( OpenCV REQUIRED)

and modified:

include_directories(
    include
    ${realsense2_INCLUDE_DIR}
    ${catkin_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    )
target_link_libraries(${PROJECT_NAME}
    ${realsense2_LIBRARY}
    ${catkin_LIBRARIES}
    ${CMAKE_THREAD_LIBS_INIT}
    #{OpenCV_LIBRARIES}
    )

But I still have this error when launching rs_rgbd.

In the realsense2_camera build output everything looks normal except for:

-- Set runtime path of "/home/sacvp-user/catkin_ws/install/lib/librealsense2_camera.so" to ""

It is the right track though, OpenCV is not being linked.

My full realsense2_camera CMakeLists:

cmake_minimum_required(VERSION 2.8.3)
project(realsense2_camera)
add_compile_options(-std=c++11)

option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
option(SET_USER_BREAK_AT_STARTUP "Set user wait point in startup (for debug)" OFF)

add_definitions(-D_CRT_SECURE_NO_WARNINGS)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

find_package(catkin REQUIRED COMPONENTS
    message_generation
    nav_msgs
    roscpp
    sensor_msgs
    std_msgs
    std_srvs
    nodelet
    cv_bridge
    image_transport
    tf
    ddynamic_reconfigure
    diagnostic_updater
    )

find_package(OpenCV REQUIRED)

if(BUILD_WITH_OPENMP)
    find_package(OpenMP)
    if(NOT OpenMP_FOUND)
        message(FATAL_ERROR "\n\n OpenMP is missing!\n\n")
    else()
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -fopenmp")
        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
    endif()
endif()

if(SET_USER_BREAK_AT_STARTUP)
    message("GOT FLAG IN CmakeLists.txt")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBPDEBUG")
endif()

if (WIN32)
find_package(realsense2 CONFIG REQUIRED)
else()
find_package(realsense2 2.50.0)
endif()

if(NOT realsense2_FOUND)
    message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
endif()

if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
endif()

string(TOUPPER "${CMAKE_BUILD_TYPE}" uppercase_CMAKE_BUILD_TYPE)
if (${uppercase_CMAKE_BUILD_TYPE} STREQUAL "RELEASE")
    message(STATUS "Create Release Build.")
    set(CMAKE_CXX_FLAGS "-O2 ${CMAKE_CXX_FLAGS}")
else()
    message(STATUS "Create Debug Build.")
endif()

if (WIN32)
else()
set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")
endif()

add_message_files(
    FILES
    IMUInfo.msg
    Extrinsics.msg
    Metadata.msg
    )

add_service_files(
    FILES
    DeviceInfo.srv
)

generate_messages(
    DEPENDENCIES
    sensor_msgs
    std_msgs
    )

set(CMAKE_NO_SYSTEM_FROM_IMPORTED true)
include_directories(
    include
    ${realsense2_INCLUDE_DIR}
    ${catkin_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    )

# RealSense ROS Node
catkin_package(
    LIBRARIES ${PROJECT_NAME}
    CATKIN_DEPENDS message_runtime roscpp sensor_msgs std_msgs
    nodelet
    cv_bridge
    image_transport
    ddynamic_reconfigure
    nav_msgs
    )

add_library(${PROJECT_NAME}
    include/constants.h
    include/realsense_node_factory.h
    include/base_realsense_node.h
    include/t265_realsense_node.h
    src/realsense_node_factory.cpp
    src/base_realsense_node.cpp
    src/t265_realsense_node.cpp
    )

add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

target_include_directories(${PROJECT_NAME}
  PRIVATE ${realsense2_INCLUDE_DIR})

target_link_libraries(${PROJECT_NAME}
    ${realsense2_LIBRARY}
    ${catkin_LIBRARIES}
    ${CMAKE_THREAD_LIBS_INIT}
    #{OpenCV_LIBRARIES}
    )

if(WIN32)
set_target_properties(${realsense2_LIBRARY} PROPERTIES MAP_IMPORTED_CONFIG_RELWITHDEBINFO RELEASE)
target_link_libraries(${PROJECT_NAME}
    realsense2::realsense2 
    realsense2::realsense-file
    )
endif()

# Install nodelet library
install(TARGETS ${PROJECT_NAME}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
    )

# Install header files
install(DIRECTORY include/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    )

# Install launch files
install(DIRECTORY launch/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
    )

# Install rviz files
install(DIRECTORY rviz/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
    )

# Install xml files
install(FILES nodelet_plugins.xml
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )
arpaterson commented 2 years ago

librealsense is built from source (realsense-viewer works) apt ros-noetic-librealsense and ros-noetic-realsense2* are not installed. realsense2_camera is in my ros catkin workspace

opencv4.5.0 is built from source and the existing opencv from jetpack5 has not been replaced/removed.

Perhaps it is something to do with this?

MartyG-RealSense commented 2 years ago

The RealSense ROS wrapper does not support an RGBD launch by default and support for it has to be installed first before using the wrapper's rs_rgbd.launch launch file. Can you confirm if you have installed RGBD support, please? It can be done on Noetic using the instruction below.

sudo apt-get install ros-noetic-rgbd-launch

arpaterson commented 2 years ago

Yes, I have installed rgbd-launch

Anthony Paterson

On 6. Sep 2022, at 06:38, MartyG-RealSense @.***> wrote:



The RealSense ROS wrapper does not support an RGBD launch by default and support for it has to be installed first before using the wrapper's rs_rgbd.launch launch file. Can you confirm if you have installed RGBD support, please? It can be done on Noetic using the instruction below.

sudo apt-get install ros-noetic-rgbd-launch

MartyG-RealSense commented 2 years ago

It was established earlier in this discussion at https://github.com/IntelRealSense/realsense-ros/issues/2467#issuecomment-1237303296 that librealsense and the RealSense Viewer were working correctly on Jetson Orin. However, the ROS wrapper has the undefined symbol error when launching.

As you suggest in the above link, it may be related to installing OpenCV 4.5.0 from source, since OpenCV installation is not a required step in the ROS wrapper install instructions.

MartyG-RealSense commented 2 years ago

Hi @arpaterson Do you require further assistance with this case, please? Thanks!

MartyG-RealSense commented 1 year ago

Case closed due to no further comments received.

arpaterson commented 1 year ago

Is it possible to reopen this?

MartyG-RealSense commented 1 year ago

Yes, it is fine to re-open it if you wish to resume the case.

arpaterson commented 1 year ago

Are there any requirements on opencv? I have built openCV with CUDA, and it appears correctly in python3, jtop shows OpenCV: compiled CUDA: YES.

The only thing I can see is the openGL support is not there "NO" in openCV build information.

General configuration for OpenCV 4.5.0 =====================================
  Version control:               4.5.0

  Extra modules:
    Location (extra):            /home/sacvp-user/git/opencv/opencv_contrib/modules
    Version control (extra):     4.5.0

  Platform:
    Timestamp:                   2022-09-05T09:30:27Z
    Host:                        Linux 5.10.104-tegra aarch64
    CMake:                       3.16.3
    CMake generator:             Unix Makefiles
    CMake build tool:            /usr/bin/make
    Configuration:               RELEASE

  CPU/HW features:
    Baseline:                    NEON FP16
      required:                  NEON
      disabled:                  VFPV3

  C/C++:
    Built as dynamic libs?:      YES
    C++ standard:                11
    C++ Compiler:                /usr/bin/c++  (ver 9.4.0)
    C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
    C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    C Compiler:                  /usr/bin/cc
    C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
    C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      -Wl,--gc-sections -Wl,--as-needed  
    Linker flags (Debug):        -Wl,--gc-sections -Wl,--as-needed  
    ccache:                      NO
    Precompiled headers:         NO
    Extra dependencies:          m pthread cudart_static dl rt nppc nppial nppicc nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cudnn cufft -L/usr/local/cuda-11.4/lib64 -L/usr/lib/aarch64-linux-gnu
    3rdparty dependencies:

  OpenCV modules:
    To be built:                 alphamat aruco bgsegm bioinspired calib3d ccalib core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy gapi hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow phase_unwrapping photo plot python3 quality rapid reg rgbd saliency shape stereo stitching structured_light superres surface_matching text tracking video videoio videostab xfeatures2d ximgproc xobjdetect xphoto
    Disabled:                    python2 world
    Disabled by dependency:      -
    Unavailable:                 cnn_3dobj cvv hdf java js julia matlab ovis sfm ts viz
    Applications:                apps
    Documentation:               NO
    Non-free algorithms:         YES

  GUI: 
    GTK+:                        YES (ver 3.24.20)
      GThread :                  YES (ver 2.64.6)
      GtkGlExt:                  NO
    OpenGL support:              NO
    VTK support:                 NO

  Media I/O: 
    ZLib:                        /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11)
    JPEG:                        /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80)
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.6.37)
    TIFF:                        build (ver 42 - 4.0.10)
    JPEG 2000:                   build (ver 2.3.1)
    OpenEXR:                     build (ver 2.3.0)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES
    PFM:                         YES

  Video I/O:
    DC1394:                      YES (2.2.5)
    FFMPEG:                      YES
      avcodec:                   YES (58.54.100)
      avformat:                  YES (58.29.100)
      avutil:                    YES (56.31.100)
      swscale:                   YES (5.5.100)
      avresample:                YES (4.0.0)
    GStreamer:                   YES (1.16.3)
    v4l/v4l2:                    YES (linux/videodev2.h)

  Parallel framework:            TBB (ver 2020.1 interface 11101)

  Trace:                         YES (with Intel ITT)

  Other third-party libraries:
    Lapack:                      YES (/usr/lib/aarch64-linux-gnu/liblapack.so /usr/lib/aarch64-linux-gnu/libcblas.so /usr/lib/aarch64-linux-gnu/libatlas.so)
    Eigen:                       YES (ver 3.3.7)
    Custom HAL:                  YES (carotene (ver 0.0.1))
    Protobuf:                    build (3.5.1)

  NVIDIA CUDA:                   YES (ver 11.4, CUFFT CUBLAS FAST_MATH)
    NVIDIA GPU arch:             87
    NVIDIA PTX archs:

  cuDNN:                         YES (ver 8.4.1)

  Python 3:
    Interpreter:                 /usr/bin/python3 (ver 3.8.10)
    Libraries:                   /usr/lib/aarch64-linux-gnu/libpython3.8.so (ver 3.8.10)
    numpy:                       /usr/lib/python3/dist-packages/numpy/core/include (ver 1.17.4)
    install path:                lib/python3.8/dist-packages/cv2/python-3.8

  Python (for build):            /usr/bin/python2.7

  Java:                          
    ant:                         NO
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    /usr/local
-----------------------------------------------------------------
MartyG-RealSense commented 1 year ago

Support for OpenGL graphics in librealsense on Jetson would be enabled by either building librealsense from source code with CMake and including the build term -DBUILD_GRAPHICAL_EXAMPLES=true, or building from packages and installing the 'librealsense-utils' package with the instruction sudo apt-get install librealsense2-utils

A non-RealSense discussion at https://github.com/mdegans/nano_build_opencv/issues/51 provides advice about building OpenCV on Jetson Nano with OpenGL support.

arpaterson commented 1 year ago

I think I've solved this through a combination of

I don't have any clear learnings to share, but the problem is solved.

For the record heres what I did

  1. Compiled opencv with CUDA, but no GTK, QT, or opengl support ( those lead to a different unrelated opencv compilation error, I cannot get opencv later than 4.5.0 to compile with opengl and GUI features on my orin due undefined reference to glXGetProcAddressARB() )
  2. build librealsense with native backend and cuda, without patching the kernel.
  3. included realsense-ros in my projects catkin workspace
  4. modified realsense-ros CMakeLists.txt to find opencv and include it as per here
  5. catkin_make'd it and sourced the workspace properly.

Additionally, I

It is possible that between having apt installed versions, workspace sourcing, etc that I was not running the compiled version of librealsense.

Anyay, the changes to realsense-ros CMakeLists.txt works.

arpaterson commented 1 year ago

Just before closing this, @MartyG-RealSense Do you have any idea what performance change/how much GPU usage I should see? I'm not sure how to confirm that the Orin GPU is being utilized for the D455, and not just for desktop rendering.

I see almost none, and low framerates when connected over xrdp, but that is expected.

Connected to a monitor I see a solid 30FPS in rviz, up to 45 if uncapped.

MartyG-RealSense commented 1 year ago

That's excellent news that you achieved a solution. Thanks so much for sharing the details with the RealSense ROS community!

Below are some example figures for CPU vs GPU performance when using alignment with and without CUDA. The figures are a few years old but should provide a rough guide for expectations of reduction in CPU usage with CUDA.

image

At a recent case at https://github.com/IntelRealSense/librealsense/issues/10911 a RealSense ROS user who was checking whether librealsense's CUDA support was enabled reported that if the GPU was being utilized then it would be registered in nvtop.

arpaterson commented 1 year ago

I will have a chance to look at nvtop this weekend. If I do not see the expected resource use I will reopen, or open another issue.

Thank you again!

MartyG-RealSense commented 1 year ago

You are very welcome. I look forward to your next report. Good luck!

MartyG-RealSense commented 1 year ago

Hi @arpaterson Do you have an update about this case that you can provide, please? Thanks!

MartyG-RealSense commented 1 year ago

Case closed due to no further comments received.

arpaterson commented 1 year ago

nothing further at this point.

julioGSabka commented 1 year ago

Hey, @arpaterson, I solved this problem by modifying the Cmake.txt file from the realsense2_camera package Add the _findpackage(OpenCV REQUIRED) line

cmake_minimum_required(VERSION 2.8.3) project(realsense2_camera) add_compile_options(-std=c++11)

option(BUILD_WITH_OPENMP "Use OpenMP" OFF) option(SET_USER_BREAK_AT_STARTUP "Set user wait point in startup (for debug)" OFF)

find_package(OpenCV REQUIRED) find_package(catkin REQUIRED COMPONENTS message_generation nav_msgs roscpp sensor_msgs std_msgs nodelet cv_bridge image_transport tf ddynamic_reconfigure diagnostic_updater OpenCV REQUIRED )

if(BUILD_WITH_OPENMP) find_package(OpenMP) if(NOT OpenMP_FOUND) message(FATAL_ERROR "\n\n OpenMP is missing!\n\n") else() set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -fopenmp") set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}") endif() endif()

if(SET_USER_BREAK_AT_STARTUP) message("GOT FLAG IN CmakeLists.txt") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBPDEBUG") endif()

find_package(realsense2 2.29.0) if(NOT realsense2_FOUND) message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n") endif()

if (CMAKE_BUILD_TYPE EQUAL "RELEASE") message(STATUS "Create Release Build.") set(CMAKE_CXX_FLAGS "-O2 ${CMAKE_CXX_FLAGS}") else() message(STATUS "Create Debug Build.") endif()

set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")

add_message_files( FILES IMUInfo.msg Extrinsics.msg )

generate_messages( DEPENDENCIES sensor_msgs std_msgs )

set(CMAKE_NO_SYSTEM_FROM_IMPORTED true) include_directories( include ${realsense2_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} )

RealSense ROS Node

catkin_package( LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS message_runtime roscpp sensor_msgs std_msgs nodelet cv_bridge image_transport ddynamic_reconfigure nav_msgs )

add_library(${PROJECT_NAME} include/constants.h include/realsense_node_factory.h include/base_realsense_node.h include/t265_realsense_node.h src/realsense_node_factory.cpp src/base_realsense_node.cpp src/t265_realsense_node.cpp )

add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

target_include_directories(${PROJECT_NAME} PRIVATE ${realsense2_INCLUDE_DIR})

target_link_libraries(${PROJECT_NAME} ${realsense2_LIBRARY} ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT} )

Install nodelet library

install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )

Install header files

install(DIRECTORY include/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} )

Install launch files

install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch )

Install rviz files

install(DIRECTORY rviz/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz )

Install xml files

install(FILES nodelet_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )