ROS2 Port

CMakeLists.txt

@@ -1,23 +1,78 @@
 cmake_minimum_required(VERSION 3.10.2)
+
 project(point_cloud_transport_tutorial)
 
-find_package(catkin REQUIRED COMPONENTS cras_cpp_common point_cloud_transport rosbag rosgraph_msgs sensor_msgs topic_tools)
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-catkin_package()
+find_package(ament_cmake_ros REQUIRED)
 
-include_directories(${catkin_INCLUDE_DIRS})
+find_package(point_cloud_transport REQUIRED)
+find_package(point_cloud_transport_plugins REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rcpputils REQUIRED)
+find_package(rosbag2_cpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+include_directories(
+  include
+)
+
+# encoder
+add_executable(encoder_test src/my_encoder.cpp)
+ament_target_dependencies(encoder_test point_cloud_transport rosbag2_cpp sensor_msgs)
 
 # publisher
 add_executable(publisher_test src/my_publisher.cpp)
-add_dependencies(publisher_test ${catkin_EXPORTED_TARGETS})
-target_link_libraries(publisher_test ${catkin_LIBRARIES})
+ament_target_dependencies(publisher_test point_cloud_transport rclcpp rcpputils rosbag2_cpp sensor_msgs)
 
 # subscriber
 add_executable(subscriber_test src/my_subscriber.cpp)
-add_dependencies(subscriber_test ${catkin_EXPORTED_TARGETS})
-target_link_libraries(subscriber_test ${catkin_LIBRARIES})
+ament_target_dependencies(subscriber_test point_cloud_transport rclcpp sensor_msgs)
 
-# encoder
-add_executable(encoder_test src/my_encoder.cpp)
-add_dependencies(encoder_test ${catkin_EXPORTED_TARGETS})
-target_link_libraries(encoder_test ${catkin_LIBRARIES})
+# Install executables
+install(
+  TARGETS
+    encoder_test
+    publisher_test
+    subscriber_test
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY
+    resources
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# linting tests
+if(BUILD_TESTING)
+  find_package(ament_cmake_copyright REQUIRED)
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(ament_cmake_xmllint REQUIRED)
+
+  ament_copyright(EXCLUDE ${_linter_excludes})
+  ament_cppcheck(
+    EXCLUDE ${_linter_excludes}
+    LANGUAGE c++
+  )
+  ament_cpplint(EXCLUDE ${_linter_excludes})
+  ament_lint_cmake()
+  ament_uncrustify(
+    LANGUAGE c++
+  )
+  ament_xmllint()
+endif()
+
+
+ament_package()