sync to main

CMakeLists.txt

@@ -7,11 +7,6 @@ project(rslidar_sdk)
 #=======================================
 set(POINT_TYPE XYZI)
 
-#=======================================
-# Compile setup (ORIGINAL, CATKIN, COLCON)
-#=======================================
-set(COMPILE_METHOD CATKIN)
-
 option(ENABLE_TRANSFORM "Enable transform functions" OFF)
 if(${ENABLE_TRANSFORM})
   add_definitions("-DENABLE_TRANSFORM")
@@ -63,12 +58,7 @@ if (CMAKE_BUILD_TYPE STREQUAL "")
   add_definitions(-O3)
 endif()
 
-if($ENV{ROS_DISTRO} STREQUAL "humble")  # the ros2 humble requires c++17
 add_definitions(-std=c++17)
-else()
-add_definitions(-std=c++14)
-endif()
-
 add_compile_options(-Wall)
 
 #========================
@@ -103,21 +93,16 @@ if(roscpp_FOUND)
   include_directories(${roscpp_INCLUDE_DIRS} ${roslib_INCLUDE_DIRS})
   set(ROS_LIBS ${roscpp_LIBRARIES} ${roslib_LIBRARIES})
 
-  #Catkin#
-  if(${COMPILE_METHOD} STREQUAL "CATKIN")
-
-    add_definitions(-DRUN_IN_ROS_WORKSPACE)
-
-    find_package(catkin REQUIRED COMPONENTS
-      roscpp
-      sensor_msgs
-      roslib)
+  add_definitions(-DRUN_IN_ROS_WORKSPACE)
 
-    catkin_package(CATKIN_DEPENDS 
-      sensor_msgs 
-      roslib)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    sensor_msgs
+    roslib)
 
-  endif(${COMPILE_METHOD} STREQUAL "CATKIN")
+  catkin_package(CATKIN_DEPENDS 
+    sensor_msgs 
+    roslib)
 
 else(roscpp_FOUND)
 
@@ -130,8 +115,7 @@ endif(roscpp_FOUND)
 #ROS2#
 find_package(rclcpp QUIET)
 
-if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
-
+if(rclcpp_FOUND)
   message(=============================================================)
   message("-- ROS2 Found. ROS2 Support is turned On.")
   message(=============================================================)
@@ -145,13 +129,11 @@ if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
   find_package(rslidar_msg REQUIRED)
   find_package(std_msgs REQUIRED)                      
 
-else(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
-
+else(rclcpp_FOUND)
   message(=============================================================)
   message("-- ROS2 Not Found. ROS2 Support is turned Off.")
   message(=============================================================)
-
-endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
+endif(rclcpp_FOUND)
 
 #Others#
 find_package(yaml-cpp REQUIRED)
@@ -182,19 +164,15 @@ if(roscpp_FOUND)
   target_link_libraries(rslidar_sdk_node 
     ${ROS_LIBS})
 
-  if(${COMPILE_METHOD} STREQUAL "CATKIN")
-
-    install(TARGETS rslidar_sdk_node
-            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-
-  endif()
+  install(TARGETS rslidar_sdk_node
+          RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+          LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+          ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
 endif(roscpp_FOUND)
 
 #Ros2#
-if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
+if(rclcpp_FOUND)
 
   ament_target_dependencies(rslidar_sdk_node 
     rclcpp 
@@ -213,5 +191,5 @@ if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
 
   ament_package()
 
-endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
+endif(rclcpp_FOUND)
 

README.md

@@ -145,20 +145,7 @@ cmake .. && make -j4
 
 ### 4.2 Compile with ROS catkin tools
 
-(1) On top of the file *CMakeLists.txt*，set the variable **COMPILE_METHOD** to **CATKIN**.
-
-```cmake
-#=======================================
-# Compile setup (ORIGINAL,CATKIN,COLCON)
-#=======================================
-set(COMPILE_METHOD CATKIN)
-```
-
-(2) Copy the file *package_ros1.xml*  to *package.xml* in the rslidar_sdk .
-
-(3) Create a new workspace folder, and create a *src* folder in it. Then put the rslidar_sdk project into the *src* folder.
-
-(4) Go back to the root of workspace, run the following commands to compile and run. (if using zsh, replace the 2nd command with *source devel/setup.zsh*).
+(1) Run the following commands to compile and run. (if using zsh, replace the 2nd command with *source devel/setup.zsh*).
 
 ```sh
 catkin_make
@@ -168,22 +155,7 @@ roslaunch rslidar_sdk start.launch
 
 ### 4.3 Compile with ROS2 colcon
 
-(1) On top of the file *CMakeLists.txt*，set the variable **COMPILE_METHOD** to **COLCON**.
-
-```cmake
-#=======================================
-# Compile setup (ORIGINAL,CATKIN,COLCON)
-#=======================================
-set(COMPILE_METHOD COLCON)
-```
-
-(2) Copy the file *package_ros2.xml* to *package.xml* in the rslidar_sdk. 
-
-(3) Create a new workspace folder, and create a *src* folder in it. Then put the rslidar_sdk project in the *src* folder.
-
-(4) Download the packet definition project in ROS2 through [link](/~https://github.com/RoboSense-LiDAR/rslidar_msg), then put the project rslidar_msg in the *src* folder you just created.
-
-(5) Go back to the root of workspace, run the following commands to compile and run. (if using zsh, replace the 2nd command with *source install/setup.zsh*).
+(1) Run the following commands to compile and run. (if using zsh, replace the 2nd command with *source install/setup.zsh*).
 
 ```sh
 colcon build

README_CN.md

@@ -141,21 +141,7 @@ cmake .. && make -j4
 
 ### 1.4.2 依赖于ROS-catkin编译
 
-(1) 打开工程内的*CMakeLists.txt*文件，将文件顶部的变量**COMPILE_METHOD**改为**CATKIN**.
-
-
-```cmake
-#=======================================
-# Compile setup (ORIGINAL,CATKIN,COLCON)
-#=======================================
-set(COMPILE_METHOD CATKIN)
-```
-
-(2) 将rslidar_sdk工程目录下的*package_ros1.xml*文件复制到*package.xml*。
-
-(3) 新建一个文件夹作为工作空间，然后再新建一个名为*src*的文件夹, 将rslidar_sdk工程放入*src*文件夹内。
-
-(4) 返回工作空间目录，执行以下命令即可编译、运行。如果使用.zsh，将第二行替换成 *source devel/setup.zsh*。
+(1) 返回工作空间目录，执行以下命令即可编译&运行(若使用.zsh,将第二句指令替换为 *source devel/setup.zsh*)。
 
 ```sh
 catkin_make
@@ -165,22 +151,7 @@ roslaunch rslidar_sdk start.launch
 
 ### 1.4.3 依赖于ROS2-colcon编译
 
-(1) 打开工程内的*CMakeLists.txt*文件，将文件顶部的变量**COMPILE_METHOD**改为**COLCON**.
-
-```cmake
-#=======================================
-# Compile setup (ORIGINAL,CATKIN,COLCON)
-#=======================================
-set(COMPILE_METHOD COLCON)
-```
-
-(2) 将rslidar_sdk工程目录下的*package_ros2.xml*文件重命名为*package.xml*。
-
-(3) 新建一个文件夹作为工作空间，然后再新建一个名为*src*的文件夹, 将rslidar_sdk工程放入*src*文件夹内。
-
-(4) 通过[链接](/~https://github.com/RoboSense-LiDAR/rslidar_msg)，下载ROS2环境下的雷达packet消息定义，将rslidar_msg工程也放在刚刚新建的*src*文件夹内，与rslidar_sdk并列。
-
-(5) 返回工作空间目录，执行以下命令即可编译、运行。如果使用.zsh，将第二行替换为*source install/setup.zsh*。
+(1) 返回工作空间目录，执行以下命令即可编译&运行(若使用.zsh,将第二句指令替换为 *source install/setup.zsh*)。
 
 ```sh
 colcon build

package.xml

@@ -1,17 +1,25 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>rslidar_sdk</name>
   <version>1.5.15</version>
   <description>The rslidar_sdk package</description>
   <maintainer email="ron.zheng@robosense.cn">robosense</maintainer>
   <license>BSD</license>
-  <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>roslib</build_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>roslib</run_depend>
+  <depend>libpcap</depend>
+  <depend condition="$ROS_VERSION == 1">pcl_ros</depend>
+  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+  <depend condition="$ROS_VERSION == 1">roscpp</depend>
+  <depend condition="$ROS_VERSION == 1">roslib</depend>
+  <depend condition="$ROS_VERSION == 2">rslidar_msg</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>yaml-cpp</depend>
+
+  <export>
+     <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
 </package>