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Cleanup ROS package.xml and CMakeLists.txt #337

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May 3, 2024
Merged

Cleanup ROS package.xml and CMakeLists.txt #337

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13 changes: 7 additions & 6 deletions ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,7 @@
cmake_minimum_required(VERSION 3.16...3.26)
project(kiss_icp VERSION 0.4.0 LANGUAGES CXX)

set(ignore ${CATKIN_INSTALL_INTO_PREFIX_ROOT})
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/../cpp/kiss_icp/)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../cpp/kiss_icp ${CMAKE_CURRENT_BINARY_DIR}/kiss_icp)
Expand All @@ -41,11 +39,13 @@ else()
endif()

find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rcutils REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rcutils REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_ros REQUIRED)

# ROS 2 node
Expand All @@ -55,12 +55,13 @@ target_include_directories(odometry_component PRIVATE ${CMAKE_CURRENT_SOURCE_DIR
target_link_libraries(odometry_component kiss_icp_pipeline)
ament_target_dependencies(
odometry_component
rcutils
geometry_msgs
nav_msgs
rclcpp
rclcpp_components
nav_msgs
rcutils
sensor_msgs
geometry_msgs
std_msgs
tf2_ros)

rclcpp_components_register_node(odometry_component PLUGIN "kiss_icp_ros::OdometryServer" EXECUTABLE kiss_icp_node)
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14 changes: 9 additions & 5 deletions ros/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -32,16 +32,20 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rcutils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>std_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>rcutils</depend>
<depend>sensor_msgs</depend>
<depend>tf2</depend>
<depend>std_msgs</depend>
<depend>tf2_ros</depend>

<depend>eigen</depend>
<depend>sophus</depend>
<depend>tbb</depend>
<depend>robin-map-dev</depend>

<exec_depend>ros2launch</exec_depend>

<export>
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