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

2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
140 changed files with 29546 additions and 0 deletions
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+project(pointcloud_to_laserscan)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_add_library(laserscan_to_pointcloud SHARED
+  src/laserscan_to_pointcloud_node.cpp)
+
+rclcpp_components_register_node(laserscan_to_pointcloud
+  PLUGIN "pointcloud_to_laserscan::LaserScanToPointCloudNode"
+  EXECUTABLE laserscan_to_pointcloud_node)
+
+ament_auto_add_library(pointcloud_to_laserscan SHARED
+  src/pointcloud_to_laserscan_node.cpp)
+
+rclcpp_components_register_node(pointcloud_to_laserscan
+  PLUGIN "pointcloud_to_laserscan::PointCloudToLaserScanNode"
+  EXECUTABLE pointcloud_to_laserscan_node)
+
+ament_auto_add_executable(dummy_pointcloud_publisher
+  src/dummy_pointcloud_publisher.cpp
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+    launch
+)