Cleanup republisher (#58) (#71)

Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Mar 25, 2024 · a67e6f3 · a67e6f3
1 parent e05c430
commit a67e6f3
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Showing 4 changed files with 3 additions and 165 deletions.
diff --git a/point_cloud_transport/CMakeLists.txt b/point_cloud_transport/CMakeLists.txt
@@ -72,18 +72,9 @@ target_include_directories(republish_node PUBLIC
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 rclcpp_components_register_nodes(republish_node "point_cloud_transport::Republisher")
 
-add_executable(republish
-  src/republish_program.cpp
-  src/utilities/utilities.cpp
-)
-target_link_libraries(republish
-  ${PROJECT_NAME}
-  republish_node
-)
-ament_target_dependencies(republish
-  pluginlib
-  rclcpp_components
-  rclcpp
+rclcpp_components_register_node(republish_node
+  PLUGIN "point_cloud_transport::Republisher"
+  EXECUTABLE republish
 )
 
 # Build list_transports
@@ -106,7 +97,6 @@ install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME})
 install(
   TARGETS
     list_transports
-    republish
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

diff --git a/point_cloud_transport/src/republish_program.cpp b/point_cloud_transport/src/republish_program.cpp
diff --git a/point_cloud_transport/src/utilities/utilities.cpp b/point_cloud_transport/src/utilities/utilities.cpp
diff --git a/point_cloud_transport/src/utilities/utilities.hpp b/point_cloud_transport/src/utilities/utilities.hpp