Heavily cleanup the CMake for velodyne_pointcloud.

Signed-off-by: Chris Lalancette <[email protected]>

velodyne_pointcloud/CMakeLists.txt

@@ -23,66 +23,93 @@ find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(velodyne_msgs REQUIRED)
-
-# Resolve system dependency on yaml-cpp, which apparently does not
-# provide a CMake find_package() module.
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
-find_path(YAML_CPP_INCLUDE_DIR
-  NAMES yaml_cpp.h
-  PATHS ${YAML_CPP_INCLUDE_DIRS})
-find_library(YAML_CPP_LIBRARY
-  NAMES YAML_CPP
-  PATHS ${YAML_CPP_LIBRARY_DIRS})
-
-link_directories(${YAML_CPP_LIBRARY_DIRS})
-
-if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
-  add_definitions(-DHAVE_NEW_YAMLCPP)
+find_package(yaml-cpp REQUIRED)
+
+# Older versions of yaml-cpp have a target called "yaml-cpp",
+# so use that where appropriate.
+if(TARGET yaml-cpp::yaml-cpp)
+  set(YAML_CPP_TARGET "yaml-cpp::yaml-cpp")
+else()
+  set(YAML_CPP_TARGET ${YAML_CPP_LIBRARIES})
 endif()
 
-include_directories(include ${PCL_COMMON_INCLUDE_DIRS})
+add_library(velodyne_rawdata SHARED
+  src/lib/rawdata.cpp
+  src/lib/calibration.cpp)
+target_include_directories(velodyne_rawdata PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(velodyne_rawdata PUBLIC
+  angles::angles
+  ${geometry_msgs_TARGETS}
+  ${PCL_LIBRARIES}
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${velodyne_msgs_TARGETS}
+  ${YAML_CPP_TARGET}
+)
 
-add_subdirectory(src/lib)
+add_library(velodyne_cloud_types SHARED
+  src/lib/pointcloudXYZIRT.cpp
+  src/lib/organized_cloudXYZIRT.cpp
+)
+target_include_directories(velodyne_cloud_types PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(velodyne_cloud_types PUBLIC
+  ${PCL_LIBRARIES}
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+  tf2_ros::tf2_ros
+  ${velodyne_msgs_TARGETS}
+)
 
 add_library(transform SHARED
   src/conversions/transform.cpp)
-ament_target_dependencies(transform
-  diagnostic_updater
-  message_filters
-  rclcpp
-  rclcpp_components
-  tf2
-  tf2_ros
-)
-target_link_libraries(transform
+target_include_directories(transform PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(transform PUBLIC
+  diagnostic_updater::diagnostic_updater
+  message_filters::message_filters
+  rclcpp::rclcpp
+  tf2::tf2
+  tf2_ros::tf2_ros
   velodyne_cloud_types
   velodyne_rawdata
-  ${YAML_CPP_LIBRARIES})
-install(TARGETS transform
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
+  ${YAML_CPP_TARGET}
+)
+target_link_libraries(transform PRIVATE
+  rclcpp_components::component
 )
+
+install(TARGETS velodyne_cloud_types velodyne_rawdata transform
+  EXPORT ${PROJECT_NAME}
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib)
+
 rclcpp_components_register_nodes(transform
   "velodyne_pointcloud::Transform")
 
 add_executable(velodyne_transform_node
   src/conversions/transform_node.cpp)
-ament_target_dependencies(velodyne_transform_node
-  rclcpp
+target_include_directories(velodyne_transform_node PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(velodyne_transform_node PRIVATE
+  rclcpp::rclcpp
+  transform
 )
-target_link_libraries(velodyne_transform_node
-  transform)
 install(TARGETS velodyne_transform_node
   DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION include/${PROJECT_NAME})
 install(DIRECTORY config launch params
   DESTINATION share/${PROJECT_NAME})
-# install(PROGRAMS scripts/gen_calibration.py
-#         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 if(BUILD_TESTING)
   # Remove empty.xml from lint
@@ -112,7 +139,7 @@ if(BUILD_TESTING)
   add_subdirectory(tests)
 endif()
 
-ament_export_include_directories(include)
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_dependencies(
   diagnostic_updater
   eigen
@@ -126,4 +153,6 @@ ament_export_dependencies(
   velodyne_msgs
 )
 ament_export_libraries(velodyne_rawdata velodyne_cloud_types)
+ament_export_targets(${PROJECT_NAME})
+
 ament_package()

velodyne_pointcloud/package.xml

@@ -8,7 +8,6 @@
   </description>
   <maintainer email="[email protected]">Josh Whitley</maintainer>
   <license>BSD</license>
-  <url type="website">http://ros.org/wiki/velodyne_pointcloud</url>
   <url type="repository">https://github.com/ros-drivers/velodyne</url>
   <url type="bugtracker">https://github.com/ros-drivers/velodyne/issues</url>
   <author>Jack O'Quin</author>
@@ -18,8 +17,6 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>pkg-config</build_depend>
-
   <depend>angles</depend>
   <depend>diagnostic_updater</depend>
   <depend>eigen</depend>

velodyne_pointcloud/src/lib/calibration.cpp

@@ -44,8 +44,6 @@
 
 #include "velodyne_pointcloud/calibration.hpp"
 
-#ifdef HAVE_NEW_YAMLCPP
-
 namespace YAML
 {
 
@@ -59,8 +57,6 @@ void operator>>(const YAML::Node & node, T & i)
 
 }  // namespace YAML
 
-#endif  // HAVE_NEW_YAMLCPP
-
 namespace velodyne_pointcloud
 {
 
@@ -90,74 +86,38 @@ void operator>>(const YAML::Node & node, std::pair<int, LaserCorrection> & corre
   node[VERT_CORRECTION] >> correction.second.vert_correction;
   node[DIST_CORRECTION] >> correction.second.dist_correction;
 
-#ifdef HAVE_NEW_YAMLCPP
-
   if (node[TWO_PT_CORRECTION_AVAILABLE]) {
     node[TWO_PT_CORRECTION_AVAILABLE] >>
     correction.second.two_pt_correction_available;
   } else {
-#else
-
-  if (const YAML::Node * pName = node.FindValue(TWO_PT_CORRECTION_AVAILABLE)) {
-    *pName >> correction.second.two_pt_correction_available;
-  } else {
-#endif
     correction.second.two_pt_correction_available = false;
   }
 
   node[DIST_CORRECTION_X] >> correction.second.dist_correction_x;
   node[DIST_CORRECTION_Y] >> correction.second.dist_correction_y;
   node[VERT_OFFSET_CORRECTION] >> correction.second.vert_offset_correction;
 
-#ifdef HAVE_NEW_YAMLCPP
-
   if (node[HORIZ_OFFSET_CORRECTION]) {
     node[HORIZ_OFFSET_CORRECTION] >>
     correction.second.horiz_offset_correction;
   } else {
-#else
-
-  if (const YAML::Node * pName = node.FindValue(HORIZ_OFFSET_CORRECTION)) {
-    *pName >> correction.second.horiz_offset_correction;
-  } else {
-#endif
     correction.second.horiz_offset_correction = 0;
   }
 
   float max_intensity_float = 255.0;
 
-#ifdef HAVE_NEW_YAMLCPP
-
   if (node[MAX_INTENSITY]) {
     node[MAX_INTENSITY] >> max_intensity_float;
   }
 
-#else
-
-  if (const YAML::Node * pName = node.FindValue(MAX_INTENSITY)) {
-    *pName >> max_intensity_float;
-  }
-
-#endif
-
   correction.second.max_intensity = ::floorf(max_intensity_float);
 
   float min_intensity_float = 0.0;
 
-#ifdef HAVE_NEW_YAMLCPP
-
   if (node[MIN_INTENSITY]) {
     node[MIN_INTENSITY] >> min_intensity_float;
   }
 
-#else
-
-  if (const YAML::Node * pName = node.FindValue(MIN_INTENSITY)) {
-    *pName >> min_intensity_float;
-  }
-
-#endif
-
   correction.second.min_intensity = ::floorf(min_intensity_float);
 
   node[FOCAL_DISTANCE] >> correction.second.focal_distance;
@@ -241,17 +201,9 @@ Calibration::Calibration(const std::string & calibration_file)
   try {
     YAML::Node doc;
 
-#ifdef HAVE_NEW_YAMLCPP
-
     fin.close();
     doc = YAML::LoadFile(calibration_file);
 
-#else
-
-    YAML::Parser parser(fin);
-    parser.GetNextDocument(doc);
-
-#endif
     doc >> *this;
   } catch (YAML::Exception & e) {
     fin.close();

velodyne_pointcloud/tests/CMakeLists.txt

@@ -3,64 +3,23 @@ find_package(ament_cmake_gtest REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 
 ament_add_gtest(test_row_step test_row_step.cpp)
-ament_target_dependencies(test_row_step
-  geometry_msgs
-  rclcpp
-  sensor_msgs
-  tf2_ros
-  velodyne_msgs
+target_include_directories(test_row_step PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(test_row_step
+  Eigen3::Eigen
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${velodyne_msgs_TARGETS}
 )
 
 ament_add_gtest(test_calibration
   test_calibration.cpp
 )
-
 target_link_libraries(test_calibration
+  ament_index_cpp::ament_index_cpp
+  rclcpp::rclcpp
   velodyne_rawdata
 )
-
-ament_target_dependencies(test_calibration
-  ament_index_cpp
-  rclcpp
-)
-
-target_link_libraries(test_calibration
-  ${YAML_CPP_LIBRARIES}
-)
-
-# # Download packet capture (PCAP) files containing test data.
-# # Store them in devel-space, so rostest can easily find them.
-# catkin_download_test_data(
-#   ${PROJECT_NAME}_tests_class.pcap
-#   http://download.ros.org/data/velodyne/class.pcap
-#   DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
-#   MD5 65808d25772101358a3719b451b3d015)
-# catkin_download_test_data(
-#   ${PROJECT_NAME}_tests_32e.pcap
-#   http://download.ros.org/data/velodyne/32e.pcap
-#   DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
-#   MD5 e41d02aac34f0967c03a5597e1d554a9)
-# catkin_download_test_data(
-#   ${PROJECT_NAME}_tests_64e_s2.1-300-sztaki.pcap
-#   http://download.ros.org/data/velodyne/64e_s2.1-300-sztaki.pcap
-#   DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
-#   MD5 176c900ffb698f9b948a13e281ffc1a2)
-# catkin_download_test_data(
-#   ${PROJECT_NAME}_tests_vlp16.pcap
-#   http://download.ros.org/data/velodyne/vlp16.pcap
-#   DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
-#   MD5 f45c2bb1d7ee358274e423ea3b66fd73)
-
-# run rostests
-# add_rostest(transform_node_hz.test)
-# add_rostest(transform_nodelet_hz.test)
-# add_rostest(transform_node_32e_hz.test)
-# add_rostest(transform_nodelet_32e_hz.test)
-# add_rostest(transform_node_64e_s2.1_hz.test)
-# add_rostest(transform_nodelet_64e_s2.1_hz.test)
-# add_rostest(transform_node_vlp16_hz.test)
-# add_rostest(transform_nodelet_vlp16_hz.test)
-# add_rostest(two_nodelet_managers.test)
-
-# # parse check all the launch/*.launch files
-# roslaunch_add_file_check(../launch)