Merge pull request VIS4ROB-lab#20 from VIS4ROB-lab/devel

Merge devel branch - U18 / ROS melodic support

cslam/CMakeLists.txt

@@ -10,24 +10,21 @@ MESSAGE( STATUS "U14 Configuration")
 add_definitions(-DU14_G2O)
 ENDIF()
 
-if($$ENV{ROS_DISTRO} MATCHES "indigo")
-set(KINETIC FALSE)
-MESSAGE(STATUS "compiling for ROS " $ENV{ROS_DISTRO})
-elseif($ENV{ROS_DISTRO} MATCHES "kinetic" OR $ENV{ROS_DISTRO} MATCHES "melodic")
-set(KINETIC TRUE)
-MESSAGE(STATUS "compiling for ROS " $ENV{ROS_DISTRO})
+# This code was not tested with ROS version vefore "indigo"
+if($ENV{ROS_DISTRO} MATCHES "indigo")
+set(ROS_VERSION_INDIGO TRUE)
 else()
-message( FATAL_ERROR "ROS distro neither indigo nor kinetic" )
+set(ROS_VERSION_INDIGO FALSE)
 endif()
 
 set(CMAKE_CXX_FLAGS "-std=c++1y -pthread -pipe ${CMAKE_CXX_FLAGS}")
 set(CMAKE_CXX_FLAGS "-Wall ${CMAKE_CXX_FLAGS}")
 set(CMAKE_CXX_FLAGS "-Wno-reorder -Wno-sign-compare -Wno-unused-function -Wno-strict-aliasing ${CMAKE_CXX_FLAGS}")
-if(${KINETIC})
+if(NOT ${ROS_VERSION_INDIGO})
 set(CMAKE_CXX_FLAGS "-Wno-unused-variable ${CMAKE_CXX_FLAGS}")
 endif()
 set(CMAKE_CXX_FLAGS "-Werror=parentheses -Werror=unused-value ${CMAKE_CXX_FLAGS}")
-if(NOT ${KINETIC})
+if(${ROS_VERSION_INDIGO})
 set(CMAKE_CXX_FLAGS "-Werror=unused-variable ${CMAKE_CXX_FLAGS}")
 endif()
 
@@ -36,7 +33,7 @@ if(${PERFORMANCE_MODE})
     set(CMAKE_CXX_FLAGS "-O3 ${CMAKE_CXX_FLAGS}")
 endif()
 
-if(NOT ${KINETIC})
+if(${ROS_VERSION_INDIGO})
     set(CMAKE_CXX_FLAGS "-L${PROJECT_SOURCE_DIR}/thirdparty/opencv-2.4.13/build/lib/ -lopencv_nonfree ${CMAKE_CXX_FLAGS}")
 endif()
 
@@ -62,14 +59,14 @@ MESSAGE( STATUS "CMAKE_BUILD_TYPE: " ${CMAKE_BUILD_TYPE} )
 
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
-if(${KINETIC})
+if(NOT ${ROS_VERSION_INDIGO})
     find_package(OpenCV REQUIRED)
 endif()
 
 find_package(catkin REQUIRED COMPONENTS roscpp cv_bridge tf ccmslam_msgs pcl_ros tf_conversions image_transport)
 find_package(cmake_modules REQUIRED)
 
-if(${KINETIC})
+if(NOT ${ROS_VERSION_INDIGO})
 find_package(Eigen3 REQUIRED 3.0)
 else()
 find_package(Eigen REQUIRED 3.0)
@@ -78,7 +75,7 @@ include_directories(${EIGEN_INCLUDE_DIRS})
 add_definitions(${EIGEN_DEFINITIONS})
 find_package(PCL 1.3 REQUIRED)
 
-if(NOT ${KINETIC})
+if(${ROS_VERSION_INDIGO})
     set(OpenCV_DIR ${PROJECT_SOURCE_DIR}/thirdparty/opencv-2.4.13/build)
     set(OpenCV_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/thirdparty/opencv-2.4.13/build/include)
     find_package(OpenCV 2.4.13 REQUIRED)