Is ROS required or optional?

[zbynekwinkler]

Can this package be built without ROS? The description seems to suggest that it is possible, however the cmake requires some *_ros packages (which I have blacklisted for build without ROS).

Or if there is a way how to test srrg2_proslam without this package, that would also work for me.

[istinj]

Hey
ROS is not really necessary, still srrg2_executor depends from _ros stuff in order to read bag files.
We believe that bags are a very popular way of recording data in the community and, hence, we included as default in this package. Moreover, Ros is exensively used and runs smoothly also on very cheap computing devices (e.g. RPis).
Finally, this allows to run the viewer in another process (IPC happens via ros).

If you really need to remove this dependency, you can create your own main application in srrg2_proslam or in a package that you create :)

Cheers