Fixed Thirdparty

CMakeLists.txt

@@ -14,10 +14,10 @@ set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
 
 # Check C++11 or C++0x support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
    add_definitions(-DCOMPILEDWITHC11)
    message(STATUS "Using flag -std=c++11.")
 elseif(COMPILER_SUPPORTS_CXX0X)

ROS2/ORB_SLAM3/CMakeLists.txt

@@ -0,0 +1,110 @@
+cmake_minimum_required(VERSION 2.4.6)
+#include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+project(ORB_SLAM3)
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
+
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   add_definitions(-DCOMPILEDWITHC11)
+   message(STATUS "Using flag -std=c++11.")
+elseif(COMPILER_SUPPORTS_CXX0X)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+   add_definitions(-DCOMPILEDWITHC0X)
+   message(STATUS "Using flag -std=c++0x.")
+else()
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../cmake_modules)
+
+find_package(OpenCV 4.0 QUIET)
+#find_package(OpenCV 3.0 QUIET)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 2.4.3 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
+find_package(Eigen3 3.1.0 REQUIRED)
+#find_package(Pangolin REQUIRED)
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/../../
+${PROJECT_SOURCE_DIR}/../../include
+${PROJECT_SOURCE_DIR}/../../include/CameraModels
+${Pangolin_INCLUDE_DIRS}
+)
+
+set(LIBS 
+${OpenCV_LIBS} 
+${EIGEN3_LIBS}
+${Pangolin_LIBRARIES}
+${PROJECT_SOURCE_DIR}/../../Thirdparty/DBoW2/lib/libDBoW2.so
+${PROJECT_SOURCE_DIR}/../../Thirdparty/g2o/lib/libg2o.so
+${PROJECT_SOURCE_DIR}/../../lib/libORB_SLAM3.so
+-lboost_system
+)
+
+# Node for monocular camera
+add_executable(Mono
+src/ros_mono.cc
+)
+
+target_link_libraries(Mono
+${LIBS}
+)
+
+# Node for monocular camera (Augmented Reality Demo)
+add_executable(MonoAR
+src/AR/ros_mono_ar.cc
+src/AR/ViewerAR.h
+src/AR/ViewerAR.cc
+)
+
+target_link_libraries(MonoAR
+${LIBS}
+)
+
+# Node for stereo camera
+add_executable(Stereo
+src/ros_stereo.cc
+)
+
+target_link_libraries(Stereo
+${LIBS}
+)
+
+# Node for RGB-D camera
+add_executable(RGBD
+src/ros_rgbd.cc
+)
+
+target_link_libraries(RGBD
+${LIBS}
+)
+
+# Node for monocular-inertial camera
+add_executable(Mono_Inertial
+src/ros_mono_inertial.cc
+)
+
+target_link_libraries(Mono_Inertial
+${LIBS}
+)
+
+# Node for stereo-inertial camera
+add_executable(Stereo_Inertial
+src/ros_stereo_inertial.cc
+)
+
+target_link_libraries(Stereo_Inertial
+${LIBS}
+)

ROS2/ORB_SLAM3/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>ORB_SLAM3</name>
+  <version>1.0.0</version>
+  <license>GPLv3</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_lifecycle</depend>  
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf</depend>
+  <depend>image_transport</depend>
+  <depend>cv_bridge</depend>
+
+</package>