Matt Spencer
134 lines
4.4 KiB
Diff
134 lines
4.4 KiB
Diff
diff --git a/unitree_lidar_ros/src/unitree_lidar_ros/COLCON_IGNORE b/unitree_lidar_ros/src/unitree_lidar_ros/COLCON_IGNORE
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new file mode 100644
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index 0000000..e69de29
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diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
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index 041ef0d..dd57d47 100644
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--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
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+++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
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@@ -23,16 +23,15 @@ find_package(pcl_conversions REQUIRED)
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find_package(PCL REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(sensor_msgs REQUIRED)
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+find_package(unitree_lidar_sdk REQUIRED)
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include_directories(
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${PCL_INCLUDE_DIRS}
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include
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- ../../../unitree_lidar_sdk/include
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)
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link_directories(
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${PCL_LIBRARY_DIRS}
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- ../../../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR}
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)
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add_definitions(${PCL_DEFINITIONS})
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@@ -42,7 +41,6 @@ add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)
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target_link_libraries( unitree_lidar_ros2_node
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${Boost_SYSTEM_LIBRARY}
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${PCL_LIBRARIES}
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- libunilidar_sdk2.a
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)
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ament_target_dependencies(
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@@ -52,6 +50,7 @@ ament_target_dependencies(
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geometry_msgs
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tf2_ros
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pcl_conversions
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+ unitree_lidar_sdk
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)
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install(TARGETS
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diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
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index 74539aa..8b186d8 100644
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--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
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+++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
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@@ -17,10 +17,11 @@
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<depend>sensor_msgs</depend>
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<depend>pcl_conversions</depend>
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- <depend>pcl</depend>
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+ <depend>libpcl-all-dev</depend>
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<depend>geometry_msgs</depend>
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<depend>tf2_ros</depend>
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+ <depend>unitree_lidar_sdk</depend>
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<export>
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<build_type>ament_cmake</build_type>
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diff --git a/unitree_lidar_sdk/CMakeLists.txt b/unitree_lidar_sdk/CMakeLists.txt
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index 80af9c9..00725ea 100644
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--- a/unitree_lidar_sdk/CMakeLists.txt
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+++ b/unitree_lidar_sdk/CMakeLists.txt
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@@ -1,39 +1,14 @@
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-cmake_minimum_required(VERSION 3.0)
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+cmake_minimum_required(VERSION 3.5)
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project(unitree_lidar_sdk)
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-set(CMAKE_BUILD_TYPE "Release")
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-set(CMAKE_CXX_FLAGS "-std=c++17")
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-set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")
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-set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG")
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+find_package(ament_cmake REQUIRED)
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-include_directories(include)
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+# Install the SDK headers and the architecture-specific prebuilt static library.
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+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
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+install(FILES lib/${CMAKE_SYSTEM_PROCESSOR}/libunilidar_sdk2.a DESTINATION lib)
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-link_directories(lib/${CMAKE_SYSTEM_PROCESSOR})
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+# Export them so ament packages can consume the SDK via find_package().
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+ament_export_include_directories(include/${PROJECT_NAME})
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+ament_export_libraries(unilidar_sdk2)
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-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
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-
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-add_executable(example_lidar_udp
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- examples/example_lidar_udp.cpp
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-)
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-target_link_libraries(example_lidar_udp libunilidar_sdk2.a )
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-
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-add_executable(example_lidar_serial
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- examples/example_lidar_serial.cpp
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-)
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-target_link_libraries(example_lidar_serial libunilidar_sdk2.a )
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-
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-add_executable(set_ip_address
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- examples/set_ip_address.cpp
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-)
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-target_link_libraries(set_ip_address libunilidar_sdk2.a )
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-
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-add_executable(set_to_serial_mode
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- examples/set_to_serial_mode.cpp
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-)
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-target_link_libraries(set_to_serial_mode libunilidar_sdk2.a )
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-
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-add_executable(set_to_udp_mode
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- examples/set_to_udp_mode.cpp
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-)
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-target_link_libraries(set_to_udp_mode libunilidar_sdk2.a )
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\ No newline at end of file
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+ament_package()
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diff --git a/unitree_lidar_sdk/package.xml b/unitree_lidar_sdk/package.xml
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new file mode 100644
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index 0000000..ef88d9a
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--- /dev/null
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+++ b/unitree_lidar_sdk/package.xml
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@@ -0,0 +1,15 @@
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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>unitree_lidar_sdk</name>
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+ <version>0.0.0</version>
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+ <description>Unitree LiDAR SDK (prebuilt static library and headers)</description>
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+ <maintainer email="lukelbmeng@gmail.com">jo</maintainer>
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+ <license>BSD-3-Clause</license>
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+
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+ <buildtool_depend>ament_cmake</buildtool_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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