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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(pointcloud_to_laserscan)
find_package(ament_cmake REQUIRED)
find_package(laser_geometry REQUIRED)
find_package(message_filters REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
include_directories(include)
add_library(laserscan_to_pointcloud SHARED
src/laserscan_to_pointcloud_node.cpp)
target_compile_definitions(laserscan_to_pointcloud
PRIVATE "POINTCLOUD_TO_LASERSCAN_BUILDING_DLL")
ament_target_dependencies(laserscan_to_pointcloud
"laser_geometry"
"message_filters"
"rclcpp"
"rclcpp_components"
"sensor_msgs"
"tf2"
"tf2_ros"
"tf2_sensor_msgs"
)
rclcpp_components_register_node(laserscan_to_pointcloud
PLUGIN "pointcloud_to_laserscan::LaserScanToPointCloudNode"
EXECUTABLE laserscan_to_pointcloud_node)
add_library(pointcloud_to_laserscan SHARED
src/pointcloud_to_laserscan_node.cpp)
target_compile_definitions(pointcloud_to_laserscan
PRIVATE "POINTCLOUD_TO_LASERSCAN_BUILDING_DLL")
ament_target_dependencies(pointcloud_to_laserscan
"laser_geometry"
"message_filters"
"rclcpp"
"rclcpp_components"
"sensor_msgs"
"tf2"
"tf2_ros"
"tf2_sensor_msgs"
)
rclcpp_components_register_node(pointcloud_to_laserscan
PLUGIN "pointcloud_to_laserscan::PointCloudToLaserScanNode"
EXECUTABLE pointcloud_to_laserscan_node)
add_executable(dummy_pointcloud_publisher
src/dummy_pointcloud_publisher.cpp
)
ament_target_dependencies(dummy_pointcloud_publisher
"rclcpp"
"sensor_msgs"
)
install(TARGETS
laserscan_to_pointcloud
pointcloud_to_laserscan
RUNTIME DESTINATION lib
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)
install(TARGETS
dummy_pointcloud_publisher
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include
DESTINATION include
)
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()