Migrate pcl_ros::SACSegmentation to ROS 2

Author: AntoBrandi

pcl_ros/CMakeLists.txt

@@ -137,16 +137,23 @@ rclcpp_components_register_node(pcl_ros_filters
 class_loader_hide_library_symbols(pcl_ros_filters)
 #
 ### Declare the pcl_ros_segmentation library
-#add_library (pcl_ros_segmentation
+add_library (pcl_ros_segmentation SHARED
 #  src/pcl_ros/segmentation/extract_clusters.cpp
 #  src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
-#  src/pcl_ros/segmentation/sac_segmentation.cpp
+ src/pcl_ros/segmentation/sac_segmentation.cpp
 #  src/pcl_ros/segmentation/segment_differences.cpp
 #  src/pcl_ros/segmentation/segmentation.cpp
-#)
-#target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-#add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
-#class_loader_hide_library_symbols(pcl_ros_segmentation)
+)
+target_link_libraries(pcl_ros_segmentation PUBLIC
+  ${PCL_LIBRARIES}
+  pcl_ros_tf
+  rclcpp_components::component
+)
+rclcpp_components_register_node(pcl_ros_segmentation
+  PLUGIN "pcl_ros::SACSegmentation"
+  EXECUTABLE segmentation_sac_node
+)
+class_loader_hide_library_symbols(pcl_ros_segmentation)
 #
 ### Declare the pcl_ros_surface library
 #add_library (pcl_ros_surface
@@ -293,7 +300,7 @@ install(
     pcl_ros_filter
     pcl_ros_filters
 #    pcl_ros_surface
-#    pcl_ros_segmentation
+    pcl_ros_segmentation
     pointcloud_to_pcd_lib
     combined_pointcloud_to_pcd_lib
     bag_to_pcd_lib