Merge pull request #8 from elephantrobotics/humble-dev

fix(unitree_lidar_ros2): update CMakeLists.txt

unitree_lidar_ros2/CMakeLists.txt

@@ -1,12 +1,13 @@
 cmake_minimum_required(VERSION 3.5)
+
+cmake_policy(SET CMP0074 NEW)
+
 project(unitree_lidar_ros2)
 
-# Default to C99
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
@@ -24,30 +25,40 @@ find_package(PCL REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
+# SDK include path
 include_directories(
-  ${PCL_INCLUDE_DIRS} 
   include
-  ../unitree_lidar_sdk/include
-)
-
-link_directories(
-  ${PCL_LIBRARY_DIRS}
-  ../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR}
+  /usr/local/include/unitree_lidar_sdk
+  ${PCL_INCLUDE_DIRS}
 )
 
 add_definitions(${PCL_DEFINITIONS})
 
-add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)
+# SDK library path by architecture
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+  set(UNITREE_LIDAR_SDK_LIB
+    /usr/local/lib/unitree_lidar_sdk/aarch64/libunilidar_sdk2.a
+  )
+else()
+  set(UNITREE_LIDAR_SDK_LIB
+    /usr/local/lib/unitree_lidar_sdk/x86_64/libunilidar_sdk2.a
+  )
+endif()
 
-target_link_libraries( unitree_lidar_ros2_node
-  ${Boost_SYSTEM_LIBRARY}
+add_executable(unitree_lidar_ros2_node
+  src/unitree_lidar_ros2_node.cpp
+)
+
+target_link_libraries(
+  unitree_lidar_ros2_node
+  ${UNITREE_LIDAR_SDK_LIB}
   ${PCL_LIBRARIES}
-  unilidar_sdk2
 )
 
 ament_target_dependencies(
   unitree_lidar_ros2_node
-  rclcpp std_msgs 
+  rclcpp
+  std_msgs
   sensor_msgs
   geometry_msgs
   tf2_ros
@@ -55,11 +66,10 @@ ament_target_dependencies(
 )
 
 install(TARGETS
-unitree_lidar_ros2_node
+  unitree_lidar_ros2_node
   DESTINATION lib/${PROJECT_NAME}
 )
 
-# install rviz file and launch file
 install(DIRECTORY launch/
   DESTINATION share/${PROJECT_NAME}/launch
 )
@@ -68,7 +78,6 @@ install(DIRECTORY rviz/
   DESTINATION share/${PROJECT_NAME}/rviz
 )
 
-# install config files if they exist
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config")
   install(DIRECTORY config/
     DESTINATION share/${PROJECT_NAME}/config