update for ROS

CMakeLists.txt

@@ -1,34 +1,142 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.0.2)
-project(data_convert)
+project(data_convert VERSION 1.0.0 LANGUAGES CXX)
 
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building data_convert with Catkin")
+
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building data_convert with Standalone CMake")
+endif()
+
+# C++ Standard - must be set before find_package
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
-add_library(data_convert INTERFACE)
+if (NOT BUILDING_WITH_CATKIN)
 
-target_link_libraries(data_convert INTERFACE 
+  # Enable Position Independent Code
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+  # Cấu hình RPATH để tránh cycle trong runtime search path
+  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
+  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
+
+  set(PACKAGES_DIR  
     robot_geometry_msgs
-)
+  )
 
-target_include_directories(data_convert
+else()
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+  find_package(catkin REQUIRED COMPONENTS         
+    robot_geometry_msgs
+  )
+
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    CATKIN_DEPENDS robot_geometry_msgs
+  )
+
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+  )
+endif()
+
+# Tìm tất cả header files
+file(GLOB_RECURSE HEADERS "include/data_convert/*.h")
+
+# Tạo INTERFACE library (header-only)
+add_library(${PROJECT_NAME} INTERFACE)
+
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  # Set include directories
+  target_include_directories(${PROJECT_NAME}
+    INTERFACE 
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
+
+  # Link dependencies (header-only, chỉ cần include paths)
+  target_link_libraries(${PROJECT_NAME}
     INTERFACE
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      ${catkin_LIBRARIES}
-        $<INSTALL_INTERFACE:include>
+  )
-)
 
-# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+else()
-install(TARGETS data_convert
-  EXPORT data_convert-targets
-  INCLUDES DESTINATION include # Cài đặt include
-)
 
-# --- Xuất export set data_convert-targets thành file CMake module ---
+  # Set include directories
-# --- Tạo file lib/cmake/data_convert/data_convert-targets.cmake ---
+  target_include_directories(${PROJECT_NAME}
-# --- File này chứa cấu hình giúp project khác có thể dùng ---
+    INTERFACE 
-# --- Find_package(data_convert REQUIRED) ---
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-# --- Target_link_libraries(my_app PRIVATE data_convert::data_convert) ---
+      $<INSTALL_INTERFACE:include>
-install(EXPORT data_convert-targets 
+  )
-  FILE data_convert-targets.cmake
-  NAMESPACE data_convert::
-  DESTINATION lib/cmake/data_convert
-)
 
+  # Link dependencies (header-only, chỉ cần include paths)
+  target_link_libraries(${PROJECT_NAME}
+    INTERFACE
+      ${PACKAGES_DIR}
+  )
+
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  ## Mark libraries for installation
+  ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+else()
+
+  install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}-targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  # Export targets
+  install(EXPORT ${PROJECT_NAME}-targets
+    FILE ${PROJECT_NAME}-targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION lib/cmake/${PROJECT_NAME}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+  # Print configuration info
+  message(STATUS "=================================")
+  message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
+  message(STATUS "Version: ${PROJECT_VERSION}")
+  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
+  message(STATUS "Headers found:")
+  foreach(hdr ${HEADERS})
+    message(STATUS "  - ${hdr}")
+  endforeach()
+  message(STATUS "Dependencies: robot_geometry_msgs")
+  message(STATUS "=================================")
+endif()

package.xml

@@ -0,0 +1,25 @@
+<package>
+  <name>data_convert</name>
+  <version>0.7.10</version>
+  <description>
+    data_convert is the second generation of the transform library, which lets
+    the user keep track of multiple coordinate frames over time. data_convert
+    maintains the relationship between coordinate frames in a tree
+    structure buffered in time, and lets the user transform points,
+    vectors, etc between any two coordinate frames at any desired
+    point in time.
+  </description>
+  <author>Tully Foote</author>
+  <author>Eitan Marder-Eppstein</author>
+  <author>Wim Meeussen</author>
+  <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/data_convert</url>
+    
+  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+  <build_depend>robot_geometry_msgs</build_depend>
+  <run_depend>robot_geometry_msgs</run_depend>
+
+</package>