feat(slam): add lidar SLAM and pointcloud processing packages

pcd2pgm/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.8)
+project(pcd2pgm)
+
+## Use C++14
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+## Export compile commands for clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+#######################
+## Find dependencies ##
+#######################
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+
+###########
+## Build ##
+###########
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  DIRECTORY src
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN pcd2pgm::Pcd2PgmNode
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+#############
+## Testing ##
+#############
+
+if(BUILD_TESTING)
+set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_SOURCE_DIR}/.clang-format")
+find_package(ament_lint_auto REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_uncrustify
+    ament_cmake_flake8
+  )
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+#############
+## Install ##
+#############
+
+ament_auto_package(INSTALL_TO_SHARE
+  config
+  launch
+  rviz
+)