Ros2 crystal

CMakeLists.txt

@@ -1,102 +1,138 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(laser_assembler)
 
-##############################################################################
-# Find dependencies
-##############################################################################
-
-set(THIS_PACKAGE_ROS_DEPS 
-tf sensor_msgs message_filters roscpp laser_geometry filters)
-
-find_package(catkin REQUIRED COMPONENTS 
-  ${THIS_PACKAGE_ROS_DEPS} 
-  message_generation)
-find_package(Boost REQUIRED COMPONENTS system signals)
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
-
-##############################################################################
-# Build service definitions
-##############################################################################
-add_service_files(FILES
-AssembleScans.srv
-AssembleScans2.srv)
-
-generate_messages(DEPENDENCIES sensor_msgs std_msgs)
-
-##############################################################################
-# Define package
-##############################################################################
-
-catkin_package(
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS} message_runtime
-  DEPENDS
-  )
-
-##############################################################################
-# Build
-##############################################################################
+if(NOT WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+endif()
 
-add_executable(laser_scan_assembler_srv src/laser_scan_assembler_srv.cpp)
-target_link_libraries(laser_scan_assembler_srv ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(laser_scan_assembler_srv ${PROJECT_NAME}_gencpp)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(message_filters REQUIRED)
+find_package(laser_geometry REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(filters REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME} "srv/AssembleScans.srv"
+    "srv/AssembleScans2.srv"
+    DEPENDENCIES builtin_interfaces sensor_msgs)
+
+set(INCLUDE_DIRS include ${ament_cmake_INCLUDE_DIRS}
+    ${rosidl_default_generators_INCLUDE_DIRS} ${signals_INCLUDE_DIRS}
+    ${builtin_interfaces_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS}
+    ${sensor_msgs_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS}
+    ${laser_geometry_INCLUDE_DIRS}
+    ${tf2_ros_INCLUDE_DIRS} ${tf2_INCLUDE_DIRS}
+    ${message_filters_INCLUDE_DIRS}
+    ${rostest_INCLUDE_DIRS} ${system_INCLUDE_DIRS}
+    ${geometry_msgs_INCLUDE_DIRS}
+    ${filters_INCLUDE_DIRS})
+
+include_directories(${INCLUDE_DIRS})
+
+set(LIBS ${rclcpp_LIBRARIES} ${ament_cmake_LIBRARIES}
+    ${rosidl_default_generators_LIBRARIES} ${signals_LIBRARIES}
+    ${std_msgs_LIBRARIES}
+    ${system_LIBRARIES} ${tf2_ros_LIBRARIES} ${tf2_LIBRARIES}
+    ${laser_geometry_LIBRARIES}
+    ${geometry_msgs_LIBRARIES}
+    ${message_filters_LIBRARIES} ${sensor_msgs_LIBRARIES}
+    ${filters_LIBRARIES})
 
 add_executable(laser_scan_assembler src/laser_scan_assembler.cpp)
-target_link_libraries(laser_scan_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(laser_scan_assembler ${PROJECT_NAME}_gencpp)
-
-add_executable(merge_clouds src/merge_clouds.cpp)
-target_link_libraries(merge_clouds ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(merge_clouds ${PROJECT_NAME}_gencpp)
-
-add_executable(point_cloud_assembler_srv src/point_cloud_assembler_srv.cpp)
-target_link_libraries(point_cloud_assembler_srv ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(point_cloud_assembler_srv ${PROJECT_NAME}_gencpp)
+target_link_libraries(laser_scan_assembler ${LIBS})
+rosidl_target_interfaces(laser_scan_assembler
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+install(
+  TARGETS laser_scan_assembler
+  DESTINATION lib/${PROJECT_NAME})
 
 add_executable(point_cloud_assembler src/point_cloud_assembler.cpp)
-target_link_libraries(point_cloud_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(point_cloud_assembler ${PROJECT_NAME}_gencpp)
-
-add_executable(point_cloud2_assembler src/point_cloud2_assembler.cpp)
-target_link_libraries(point_cloud2_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(point_cloud2_assembler ${PROJECT_NAME}_gencpp)
+target_link_libraries(point_cloud_assembler ${LIBS})
+rosidl_target_interfaces(point_cloud_assembler
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+install(
+  TARGETS point_cloud_assembler
+  DESTINATION lib/${PROJECT_NAME})
 
-## unit testing
+add_executable(merge_clouds src/merge_clouds.cpp)
+target_link_libraries(merge_clouds ${LIBS})
+rosidl_target_interfaces(merge_clouds
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+install(
+  TARGETS merge_clouds
+  DESTINATION lib/${PROJECT_NAME})
 
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest)
+add_executable(point_cloud2_assembler src/point_cloud2_assembler.cpp)
+target_link_libraries(point_cloud2_assembler ${LIBS})
+rosidl_target_interfaces(point_cloud2_assembler
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+install(
+  TARGETS point_cloud2_assembler
+  DESTINATION lib/${PROJECT_NAME})
+
+include_directories(include)
+
+install(DIRECTORY "include/"
+  DESTINATION include)
+
+install(TARGETS laser_scan_assembler
+  DESTINATION lib/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include)
+
+ament_export_include_directories(include)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(signals)
+ament_export_dependencies(sensor_msgs)
+ament_export_dependencies(tf2_ros)
+ament_export_dependencies(tf2)
+ament_export_dependencies(message_filters)
+ament_export_dependencies(laser_geometry)
+ament_export_include_directories(${INCLUDE_DIRS})
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
 
-  add_executable(periodic_snapshotter examples/periodic_snapshotter.cpp)
-  target_link_libraries(periodic_snapshotter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-  add_dependencies(periodic_snapshotter ${PROJECT_NAME}_gencpp)
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 
   add_executable(dummy_scan_producer test/dummy_scan_producer.cpp)
-  target_link_libraries(dummy_scan_producer ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-  add_dependencies(dummy_scan_producer ${PROJECT_NAME}_gencpp)
+  target_link_libraries(dummy_scan_producer ${LIBS})
+  rosidl_target_interfaces(dummy_scan_producer
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  install(
+  TARGETS dummy_scan_producer
+  DESTINATION lib/${PROJECT_NAME})
+
+  ament_add_gtest(test_assembler test/test_assembler.cpp)
+  target_link_libraries(test_assembler ${LIBS})
+  rosidl_target_interfaces(test_assembler
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  install(
+  TARGETS test_assembler
+  DESTINATION lib/${PROJECT_NAME})
 
-  add_executable(test_assembler test/test_assembler.cpp)
-  target_link_libraries(test_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES} gtest)
-  add_dependencies(test_assembler ${PROJECT_NAME}_gencpp)
+  add_executable(periodic_snapshotter examples/periodic_snapshotter.cpp)
+  target_link_libraries(periodic_snapshotter ${LIBS})
+  rosidl_target_interfaces(periodic_snapshotter
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  install(
+  TARGETS periodic_snapshotter
+  DESTINATION lib/${PROJECT_NAME})
 
-  add_rostest(test/test_laser_assembler.launch)
 endif()
 
-##############################################################################
-# Install
-##############################################################################
-
-install(TARGETS 
-    laser_scan_assembler_srv
-    laser_scan_assembler
-    merge_clouds
-    point_cloud_assembler_srv
-    point_cloud_assembler
-    point_cloud2_assembler
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-# Install headers
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+ament_package()

CONTRIBUTING.md

@@ -0,0 +1,13 @@
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~