update tf3

robot_tf3_geometry_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 # Find dependencies
-find_package(Boost REQUIRED COMPONENTS thread)
+find_package(Boost REQUIRED COMPONENTS system thread)
 find_package(Eigen3 REQUIRED)
 find_package(GTest REQUIRED)
 
@@ -36,6 +36,8 @@ if (NOT BUILDING_WITH_CATKIN)
     tf3
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -44,13 +46,14 @@ else()
   find_package(catkin REQUIRED COMPONENTS         
     robot_geometry_msgs
     data_convert
-    tf3
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+  
   catkin_package(
     INCLUDE_DIRS include
     # LIBRARIES không cần vì đây là header-only library
-    CATKIN_DEPENDS robot_geometry_msgs data_convert tf3
+    CATKIN_DEPENDS robot_geometry_msgs data_convert
     DEPENDS Eigen3 Boost
   )
 
@@ -59,6 +62,7 @@ else()
     ${catkin_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -97,6 +101,7 @@ else()
   target_link_libraries(${PROJECT_NAME}
     INTERFACE
       ${PACKAGES_DIR}
+      ${TF3_LIBRARY}
   )
 
 endif()
@@ -162,8 +167,8 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tomsg_frommsg.cpp)
     ${PROJECT_NAME}
     GTest::GTest
     GTest::Main
-    Threads::Threads
+    Boost::system Boost::thread
-    tf3
+    ${TF3_LIBRARY}
     data_convert
   )
 endif()
@@ -174,8 +179,8 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_geometry_msgs.cpp)
     ${PROJECT_NAME}
     GTest::GTest
     GTest::Main
-    Threads::Threads
+    Boost::system Boost::thread
-    tf3
+    ${TF3_LIBRARY}
     data_convert
   )
 endif()

robot_tf3_geometry_msgs/package.xml

@@ -21,8 +21,6 @@
 
   <build_depend>robot_geometry_msgs</build_depend>
   <build_depend>data_convert</build_depend>
-  <build_depend>tf3</build_depend>
   <run_depend>robot_geometry_msgs</run_depend>
   <run_depend>data_convert</run_depend>
-  <run_depend>tf3</run_depend>
 </package>

robot_tf3_sensor_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 # Find dependencies
-find_package(Boost REQUIRED COMPONENTS thread)
+find_package(Boost REQUIRED COMPONENTS system thread)
 find_package(Eigen3 REQUIRED)
 find_package(GTest REQUIRED)
 
@@ -37,6 +37,8 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_geometry_msgs
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -45,14 +47,15 @@ else()
   find_package(catkin REQUIRED COMPONENTS         
     robot_sensor_msgs
     data_convert
-    tf3
     robot_geometry_msgs
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+  
   catkin_package(
     INCLUDE_DIRS include
     # LIBRARIES không cần vì đây là header-only library
-    CATKIN_DEPENDS robot_sensor_msgs data_convert tf3 robot_geometry_msgs
+    CATKIN_DEPENDS robot_sensor_msgs data_convert robot_geometry_msgs
     DEPENDS Eigen3 Boost
   )
 
@@ -61,6 +64,7 @@ else()
     ${catkin_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -99,6 +103,7 @@ else()
   target_link_libraries(${PROJECT_NAME}
     INTERFACE
       ${PACKAGES_DIR}
+      ${TF3_LIBRARY}
   )
 
 endif()
@@ -155,9 +160,9 @@ else()
   message(STATUS "=================================")
 endif()
 
-# ========================================================
+# # ========================================================
-# Test executables
+# # Test executables
-# ========================================================
+# # ========================================================
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_sensor_msgs.cpp)
   add_executable(${PROJECT_NAME}_test test/test_tf2_sensor_msgs.cpp)
   target_include_directories(${PROJECT_NAME}_test PUBLIC 
@@ -168,9 +173,9 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_sensor_msgs.cpp)
     ${PROJECT_NAME}
     GTest::GTest
     GTest::Main
-    Threads::Threads
+    Boost::system Boost::thread
     robot_geometry_msgs
-    tf3
+    ${TF3_LIBRARY}
     data_convert
   )
 endif()

robot_tf3_sensor_msgs/package.xml

@@ -20,12 +20,10 @@
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
   <build_depend>robot_sensor_msgs</build_depend>
-  <build_depend>tf3</build_depend>
   <build_depend>robot_geometry_msgs</build_depend>
   <build_depend>data_convert</build_depend>
   
   <run_depend>robot_sensor_msgs</run_depend>
   <run_depend>robot_geometry_msgs</run_depend>
   <run_depend>data_convert</run_depend>
-  <run_depend>tf3</run_depend>
 </package>