Matt Spencer
90 lines
2.5 KiB
Diff
90 lines
2.5 KiB
Diff
diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 7344d08..3d531a9 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -1,3 +1,9 @@
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+# Default to the ROS2 build unless ROS1 is explicitly requested, so the else()
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+# (ROS2) branch below is taken when ROS_EDITION is unset or set to "ROS2".
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+if(NOT ROS_EDITION)
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+ set(ROS_EDITION "ROS2")
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+endif()
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+
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# judge which cmake codes to use
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if(ROS_EDITION STREQUAL "ROS1")
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@@ -191,6 +197,12 @@ else(ROS_EDITION STREQUAL "ROS2")
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cmake_minimum_required(VERSION 3.14)
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project(livox_ros_driver2)
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+ # Fall back to the sourced ROS distro when -DDISTRO_ROS was not passed, so a
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+ # plain `colcon build` behaves the same as the flagged Dockerfile build.
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+ if(NOT DISTRO_ROS)
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+ set(DISTRO_ROS "$ENV{ROS_DISTRO}")
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+ endif()
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+
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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diff --git a/launch b/launch
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new file mode 120000
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index 0000000..163fb01
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--- /dev/null
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+++ b/launch
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@@ -0,0 +1 @@
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+launch_ROS2
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\ No newline at end of file
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diff --git a/package.xml b/package.xml
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new file mode 100644
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index 0000000..0000000
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--- /dev/null
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+++ b/package.xml
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@@ -0,0 +1,36 @@
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+<?xml version="1.0"?>
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+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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+<package format="3">
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+ <name>livox_ros_driver2</name>
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+ <version>1.0.0</version>
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+ <description>The ROS device driver for Livox 3D LiDARs, for ROS2</description>
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+ <maintainer email="dev@livoxtech.com">feng</maintainer>
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+ <license>MIT</license>
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+
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+ <buildtool_depend>ament_cmake_auto</buildtool_depend>
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+ <build_depend>rosidl_default_generators</build_depend>
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+ <member_of_group>rosidl_interface_packages</member_of_group>
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+
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+ <depend>rclcpp</depend>
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+ <depend>rclcpp_components</depend>
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+ <depend>std_msgs</depend>
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+ <depend>sensor_msgs</depend>
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+ <depend>rcutils</depend>
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+ <depend>pcl_conversions</depend>
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+ <depend>rcl_interfaces</depend>
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+ <depend>libpcl-all-dev</depend>
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+
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+ <exec_depend>rosbag2</exec_depend>
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+ <exec_depend>rosidl_default_runtime</exec_depend>
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+
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+ <test_depend>ament_lint_auto</test_depend>
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+ <test_depend>ament_lint_common</test_depend>
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+
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+ <depend>git</depend>
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+ <depend>apr</depend>
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+ <depend>livox_sdk2</depend>
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+
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+ <export>
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+ <build_type>ament_cmake</build_type>
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+ </export>
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+</package>
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diff --git a/package_ROS2.xml b/package_ROS2.xml
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index 96f5762..c66785b 100644
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--- a/package_ROS2.xml
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+++ b/package_ROS2.xml
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@@ -28,6 +28,7 @@
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<depend>git</depend>
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<depend>apr</depend>
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+ <depend>livox_sdk2</depend>
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<export>
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<build_type>ament_cmake</build_type>
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