Make rtabmap_ros_INSTALL_PREFIX relative to current install directory

[lucasw]

In the install generated file install/share/rtabmap_ros/cmake/rtabmap_rosConfig.cmake there are hard-coded absolute paths to the install directory of the build system:

set(rtabmap_ros_INSTALL_PREFIX /home/runner/work/ros_from_src/ros_from_src/install_base_catkin_ws/install)
set(rtabmap_ros_PREFIX ${rtabmap_ros_INSTALL_PREFIX})
...

if(NOT "include;/home/runner/work/ros_from_src/ros_from_src/install_base_catkin_ws/install/lib/rtabmap-0.20/../../include/rtabmap-0.20;/usr/include/opencv4 " STREQUAL " ")
  set(rtabmap_ros_INCLUDE_DIRS "")
...

(and a few more)

If these could be made to only refer to install/ then it would be possible to build in one location, zip up the whole of install/ and use it on another system- in this case this github action https://github.com/lucasw/ros_from_src/blob/core/.github/workflows/ubuntu_22_04.yml with the deploy target being a different github action that doesn't want to rebuild rtabmap every build.

I can solve this for now with a search and replace sed command on the deploy target, or by creating the same /home/runner/work/ros_from_src... path and extracting into that

sed -i "s@/home/runner/work/ros_from_src/ros_from_src/install_base_catkin_ws@`pwd`@" install/share/rtabmap_ros/cmake/rtabmap_rosConfig.cmake

but I suspect with a little digging the cmake commands that generated the above could be modified to fix that, have the generated file use CMAKE_CURRENT_LIST_DIR or similar.

[matlabbe]

Those absolute paths are populated from upstream rtabmap library. I opened an issue on rtabmap repo: introlab/rtabmap#903

[matlabbe]

Work on progress here (mostly work, though not tested with all dependencies yet) on rtabmap library to use cmake targets: introlab/rtabmap#904
Also updated this branch on rtabmap_ros to use that branch: #817

You may try this new version if it fixes your issue. However, I saw that because of this:

rtabmap_ros/CMakeLists.txt

Line 164 in 26a9715

DEPENDS RTABMap

catkin will add a lot of absolute directories. You may remove that line to remove all absolute paths, however, the package won't be usable directly by another package without find_package all rtabmap dependencies manually. That would be nice if DEPENDS option in catkin_package could use targets instead of Foo_INCLUDE_DIRS and Foo_LIBRARIES, because if it could directly find_package(RTABMap), all dependencies would be already satisfied downstream. Well, maybe there is another way to make Foo_INCLUDE_DIRS and Foo_LIBRARIES relative instead of absolute. However, if I look at the pcl_ros package, a lot of absolute include dirs too:

cat /opt/ros/noetic/share/pcl_ros/cmake/pcl_rosConfig.cmake
[...]
f(NOT "include;/usr/include;/usr/include/eigen3;/usr/include/pcl-1.10;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu " STREQUAL " ")
  set(pcl_ros_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include;/usr/include/eigen3;/usr/include/pcl-1.10;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu")
[...]
set(libraries "pcl_ros_filter;pcl_ros_tf;/usr/lib/x86_64-linux-gnu/libboost_thread.so;-lpthread;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libpcl_common.so;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;/usr/lib/x86_64-linux-gnu/libpcl_search.so;/usr/lib/x86_64-linux-gnu/libpcl_features.so;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;/usr/lib/x86_64-linux-gnu/libpcl_io.so;/usr/lib/x86_64-linux-gnu/libpcl_ml.so;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/x86_64-linux-gnu/libvtkChartsCore-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonColor-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonCore-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtksys-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonDataModel-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonMath-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonMisc-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonSystem-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonTransforms-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonExecutionModel-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkFiltersGeneral-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkCommonComputationalGeometry-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkFiltersCore-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkInfovisCore-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkFiltersExtraction-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkFiltersStatistics-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkImagingFourier-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkImagingCore-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkalglib-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkRenderingContext2D-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkRenderingCore-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkFiltersGeometry-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkFiltersSources-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkRenderingFreeType-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;/usr/lib/x86_64-linux-gnu/libvtkFiltersModeling-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkImagingSources-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkInteractionStyle-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkInteractionWidgets-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkFiltersHybrid-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkImagingColor-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkImagingGeneral-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkImagingHybrid-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkIOImage-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkDICOMParser-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkmetaio-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;/usr/lib/x86_64-linux-gnu/libvtkRenderingAnnotation-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkRenderingVolume-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkIOXML-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkIOCore-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkIOXMLParser-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libexpat.so;/usr/lib/x86_64-linux-gnu/libvtkIOGeometry-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkIOLegacy-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkIOPLY-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkRenderingLOD-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkViewsContext2D-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkViewsCore-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkRenderingContextOpenGL2-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL2-7.1.so.7.1p.1;/usr/lib/x86_64-linux-gnu/libflann_cpp.so")